Demolition vehicle, method for controlling demolition vehicle, and storage medium

Abstract

A demolition vehicle, a method for controlling a demolition vehicle, and a computer-readable storage medium. The demolition vehicle comprises: a chassis (1), the chassis (1) having a plurality of attachment holders (11); a turntable (2) rotatably arranged on the chassis (1); a plurality of attachments (3) respectively arranged on the plurality of attachment holders (11); a boom assembly (4) hinged to the turntable (2) and comprising a plurality of booms which are sequentially connected by means of hinge points; an attachment joint (5) hinged to a boom end of the last boom of the plurality of booms and configured to pick up or put back any one of the plurality of attachments (3); a plurality of hinge point angle measurement devices (61) respectively connected to the respective booms of the plurality of booms and the attachment joint (5) and configured to measure the angles of the respective booms and the attachment joint (5); a slewing angle measurement device (7) connected to the turntable (2) and configured to measure the slewing angle of the turntable (2) relative to the chassis (1); and a processor (8) in signal connection with the turntable (2), the boom assembly (4), the attachment joint (5), the hinge point angle measurement device (61) and the slewing angle measurement device (7), and configured to adjust the angles of the turntable (2), the boom assembly (4) and the attachment joint (5) to a preset boom assembly angle, a preset attachment joint angle, and a preset turntable slewing angle which correspond to a target attachment (3), respectively, so as to allow the attachment joint (5) to pick up or put back the target attachment (3).

Description

Dismantling vehicle, dismantling vehicle control method and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on and claims priority to the Chinese patent application with application number 202311807373.5 and application date December 26, 2023. The disclosed content of the Chinese patent application is hereby introduced as a whole into this application. Technical Field

[0003] The present disclosure relates to the field of engineering machinery, and in particular to a demolition vehicle, a demolition vehicle control method, and a storage medium. Background Art

[0004] With rapid economic and social development, fires in enclosed buildings such as shopping malls, warehouses, and factories are becoming increasingly frequent and difficult to extinguish. Once a fire breaks out, it can be difficult for firefighters to reach the scene. Consequently, various firefighting manufacturers have introduced high-arm rescue trucks with powerful demolition and water-spraying capabilities. These trucks are typically equipped with various types of rescue tools, such as rescue drills, rescue hammers, hydraulic shears, and log grabs. Users can select different rescue tools based on the specific medium to complete the required rescue operation.

[0005] In the related art, most of the demolition tools for demolishing vehicles are manually removed, placed and replaced. The locking of the demolition tools and the quick-switch connectors requires a high degree of coordination. The demolition tools are difficult to remove and place, and manual operation makes it difficult to achieve fast and accurate replacement of equipment, which seriously affects the efficiency of firefighting and rescue.

[0006] Summary of the Invention

[0007] In view of this, the embodiments of the present disclosure provide a demolition vehicle, a demolition vehicle control method, and a storage medium to facilitate the removal and placement of accessories.

[0008] In one aspect of the present disclosure, there is provided a demolition vehicle comprising:

[0009] Chassis, the chassis has a plurality of attachment brackets;

[0010] a turntable rotatably disposed on the chassis;

[0011] A plurality of attachments are respectively arranged on a plurality of attachment brackets;

[0012] A boom assembly is hinged to the turntable and includes multiple boom sections connected in sequence through hinges;

[0013] An attachment joint is hinged to the end of the last boom section of the multi-section boom and is used to pick up or put back any one of the multiple attachments;

[0014] A plurality of hinge angle detection devices are respectively connected to each boom section and an attachment joint in the multi-section boom, and are configured to detect the angle of each boom section and the attachment joint;

[0015] a rotation angle detection device connected to the turntable and configured to detect a rotation angle of the turntable relative to the chassis; and

[0016] The processor is signal-connected to the turntable, boom assembly, attachment joint, hinge angle detection device and rotation angle detection device, and is configured to adjust the angles of the turntable, boom assembly and attachment joint to the boom assembly preset angle, attachment joint preset angle and turntable preset rotation angle corresponding to the target attachment, so that the attachment joint can pick up or put back the target attachment.

[0017] In some embodiments, dismantling a vehicle further comprises:

[0018] A plurality of accessory in-place detection devices are respectively provided on each accessory bracket and are configured to detect whether each accessory is located at the corresponding accessory bracket;

[0019] Among them, the processor is signal-connected to each accessory in-place detection device and is configured to adjust the angles of the arm assembly, accessory joint and turntable in response to the target accessory being located at the corresponding accessory bracket so that the accessory joint picks up the target accessory.

[0020] In some embodiments, dismantling a vehicle further comprises:

[0021] A plurality of gravity-type angle detection devices are respectively connected to each boom section and the attachment joint of the multi-section boom, and are configured to detect the angle of each boom section and the attachment joint;

[0022] The processor is signal-connected to each gravity-type angle detection device and is configured to determine the angle of the boom assembly and the attachment joint based on the angle information obtained by each hinge angle detection device and each gravity-type angle detection device.

[0023] In another aspect of the embodiments of the present disclosure, a demolition vehicle control method based on any of the demolition vehicles described above is provided, comprising:

[0024] The angle information of each boom section, attachment joint and turntable of the boom assembly is obtained respectively through the hinge angle detection device and the rotation angle detection device;

[0025] Adjust the turntable to a preset turntable rotation angle corresponding to the target attachment, adjust each boom section of the boom assembly to a preset boom section angle corresponding to the target attachment, and adjust the attachment joint to a preset attachment joint angle corresponding to the target attachment;

[0026] In response to the turntable, each boom section of the boom assembly and the attachment joint reaching a preset posture corresponding to the target attachment, the attachment joint is made to pick up or put back the target attachment.

[0027] In some embodiments, the operations of adjusting the turntable to a preset turntable rotation angle corresponding to the target attachment, adjusting each boom section of the boom assembly to a preset boom section angle corresponding to the target attachment, and adjusting the attachment joint to a preset attachment joint angle corresponding to the target attachment specifically include:

[0028] Adjust the angle of the turntable in sequence to within the allowable range of the preset rotation angle of the turntable corresponding to the target attachment, adjust the angle of each boom section of the boom assembly to within the allowable range of the preset angle of each boom section corresponding to the target attachment, and adjust the angle of the attachment joint to within the allowable range of the preset angle of the attachment joint corresponding to the target attachment.

[0029] In some embodiments, the demolition vehicle control method further includes:

[0030] Establish a coordinate system with the rotation center of the turntable as the coordinate origin;

[0031] Determine the position coordinates of the clamping end point of the target attachment based on the distance between the target attachment and the chassis, the distance between the target attachment and the coordinate origin, and the deflection angle between the target attachment and the coordinate origin; and determine the position coordinates of the operating end point of the attachment joint based on the distance between the first boom section of the boom assembly and the coordinate origin, the length of each boom section of the boom assembly, the length of the attachment joint, the angle of each boom section of the boom assembly, the angle of the attachment joint, and the angle of the turntable;

[0032] In response to a position difference between an operating endpoint of the attachment joint and a clamping endpoint of a target attachment exceeding an allowable range of position difference, the boom assembly and / or the attachment joint is adjusted to adjust the position difference between the operating endpoint of the attachment joint and the clamping endpoint of the target attachment to within the allowable range of position difference.

[0033] In some embodiments, in response to a position difference between an operating endpoint of an attachment joint and a clamping endpoint of a target attachment exceeding an allowable position difference range, adjusting the boom assembly and / or the attachment joint to adjust the position difference between the operating endpoint of the attachment joint and the clamping endpoint of the target attachment to within the allowable position difference range specifically includes:

[0034] In response to a distance difference between the spherical coordinates of the operating end point of the attachment joint and the spherical coordinates of the clamping end point of the target attachment being greater than a maximum value within an allowable range of the distance difference, respectively comparing differences between actual angles of each boom section in the boom assembly and preset angles of each boom section corresponding to the target attachment, and differences between actual angles of the attachment joint and preset angles of the attachment joint corresponding to the target attachment;

[0035] Adjust the arm or accessory joint with the largest angle difference among the arm assembly and the accessory joints to reduce the angle difference of the arm or accessory joint with the largest angle difference until the distance difference between the spherical coordinates of the operating end point of the accessory joint and the spherical coordinates of the clamping end point of the target accessory is less than the maximum value of the allowable range of the distance difference.

[0036] In some embodiments, in response to a position difference between an operating endpoint of the attachment joint and a clamping endpoint of the target attachment exceeding an allowable position difference range, adjusting the boom assembly and / or the attachment joint to adjust the position difference between the operating endpoint of the attachment joint and the clamping endpoint of the target attachment to within the allowable position difference range further includes:

[0037] In response to a distance difference between the spherical coordinates of the operating end point of the attachment joint and the spherical coordinates of the clamping end point of the target attachment being less than a minimum value of an allowable range of the distance difference, respectively comparing differences between actual angles of each boom section in the boom assembly and preset angles of each boom section corresponding to the target attachment, and differences between actual angles of the attachment joint and preset angles of the attachment joint corresponding to the target attachment;

[0038] Adjust the arm or accessory joint with the smallest angle difference in the arm assembly and the accessory joint to increase the angle difference of the arm or accessory joint with the smallest angle difference until the distance difference between the spherical coordinates of the operating end point of the accessory joint and the spherical coordinates of the clamping end point of the target accessory is greater than the minimum value of the allowable range of the distance difference.

[0039] In some embodiments, in response to a position difference between an operating endpoint of the attachment joint and a clamping endpoint of the target attachment exceeding an allowable position difference range, adjusting the boom assembly and / or the attachment joint to adjust the position difference between the operating endpoint of the attachment joint and the clamping endpoint of the target attachment to within the allowable position difference range further includes:

[0040] In response to adjusting the angle difference of the boom with the largest angle difference in the boom assembly to a minimum value equal to the preset allowable range of the boom angle, or adjusting the angle of the attachment joint to a minimum value equal to the preset allowable range of the attachment joint, and the distance difference between the spherical coordinates of the operating end point of the attachment joint and the spherical coordinates of the clamping end point of the target attachment is still greater than the maximum value of the distance difference allowable range, respectively comparing the difference between the actual angle of each boom section in the boom assembly and the preset angle of each boom section corresponding to the target attachment, and the difference between the actual angle of the attachment joint and the preset angle of the attachment joint corresponding to the target attachment;

[0041] Adjust the arm or accessory joint with the largest angle difference among the arm assembly and the accessory joints to reduce the angle difference of the arm or accessory joint with the largest angle difference until the distance difference between the spherical coordinates of the operating end point of the accessory joint and the spherical coordinates of the clamping end point of the target accessory is less than the maximum value of the allowable range of the distance difference.

[0042] In some embodiments, in response to a position difference between an operating endpoint of the attachment joint and a clamping endpoint of the target attachment exceeding an allowable position difference range, adjusting the boom assembly and / or the attachment joint to adjust the position difference between the operating endpoint of the attachment joint and the clamping endpoint of the target attachment to within the allowable position difference range further includes:

[0043] In response to adjusting the angle difference of the boom with the smallest angle difference in the boom assembly to a maximum value of the preset allowable range of boom angles, or adjusting the angle of the attachment joint to a maximum value of the preset allowable range of attachment angles, and the distance difference between the spherical coordinates of the operating end point of the attachment joint and the spherical coordinates of the clamping end point of the target attachment still being less than the minimum value of the distance difference allowable range, respectively comparing the differences between the actual angles of each boom section in the boom assembly and the preset angles of each boom section corresponding to the target attachment, and the differences between the actual angles of the attachment joint and the preset angles of the attachment joint corresponding to the target attachment;

[0044] Adjust the arm or accessory joint with the smallest angle difference in the arm assembly and the accessory joint to increase the angle difference of the arm or accessory joint with the smallest angle difference until the distance difference between the spherical coordinates of the operating end point of the accessory joint and the spherical coordinates of the clamping end point of the target accessory is greater than the minimum value of the allowable range of the distance difference.

[0045] In some embodiments, in response to a position difference between an operating endpoint of the attachment joint and a clamping endpoint of the target attachment exceeding an allowable position difference range, adjusting the boom assembly and / or the attachment joint to adjust the position difference between the operating endpoint of the attachment joint and the clamping endpoint of the target attachment to within the allowable position difference range further includes:

[0046] In response to the difference in height angle between the spherical coordinates of the operating end point of the attachment joint and the spherical coordinates of the clamping end point of the target attachment being greater than a maximum value within an allowable range of height angle differences, respectively comparing differences between actual angles of each boom section in the boom assembly and preset angles of each boom section corresponding to the target attachment, as well as differences between actual angles of the attachment joint and preset angles of the attachment joint corresponding to the target attachment;

[0047] Adjust the arm or accessory joint with the largest angle difference among the arm assembly and the accessory joints to reduce the angle difference of the arm or accessory joint with the largest angle difference until the height angle difference between the spherical coordinates of the operating end point of the accessory joint and the spherical coordinates of the clamping end point of the target accessory is less than the maximum value of the allowable range of the height angle difference.

[0048] In some embodiments, in response to a position difference between an operating endpoint of the attachment joint and a clamping endpoint of the target attachment exceeding an allowable position difference range, adjusting the boom assembly and / or the attachment joint to adjust the position difference between the operating endpoint of the attachment joint and the clamping endpoint of the target attachment to within the allowable position difference range further includes:

[0049] In response to the difference in height angle between the spherical coordinates of the operating end point of the attachment joint and the spherical coordinates of the clamping end point of the target attachment being less than a minimum value of an allowable range of height angle differences, respectively comparing the difference between the actual angle of each boom section in the boom assembly and the preset angle of each boom section corresponding to the target attachment, as well as the difference between the actual angle of the attachment joint and the preset angle of the attachment joint corresponding to the target attachment;

[0050] Adjust the arm or accessory joint with the smallest angle difference among the arm assembly and the accessory joints to increase the angle difference of the arm or accessory joint with the smallest angle difference until the height angle difference between the spherical coordinates of the operating end point of the accessory joint and the spherical coordinates of the clamping end point of the target accessory is greater than the minimum value of the allowable range of the height angle difference.

[0051] In some embodiments, in response to a position difference between an operating endpoint of the attachment joint and a clamping endpoint of the target attachment exceeding an allowable position difference range, adjusting the boom assembly and / or the attachment joint to adjust the position difference between the operating endpoint of the attachment joint and the clamping endpoint of the target attachment to within the allowable position difference range further includes:

[0052] In response to adjusting the angle difference of the boom with the largest angle difference in the boom assembly to a minimum value equal to the preset allowable range of the boom angle, or adjusting the angle of the attachment joint to a minimum value equal to the preset allowable range of the attachment joint, and the height angle difference between the spherical coordinates of the operating end point of the attachment joint and the spherical coordinates of the clamping end point of the target attachment is still greater than the maximum value of the allowable range of the height angle difference, respectively comparing the difference between the actual angle of each boom section in the boom assembly and the preset angle of each boom section corresponding to the target attachment, and the difference between the actual angle of the attachment joint and the preset angle of the attachment joint corresponding to the target attachment;

[0053] Adjust the arm or accessory joint with the largest angle difference among the arm assembly and the accessory joints to reduce the angle difference of the arm or accessory joint with the largest angle difference until the height angle difference between the spherical coordinates of the operating end point of the accessory joint and the spherical coordinates of the clamping end point of the target accessory is less than the maximum value of the allowable range of the height angle difference.

[0054] In some embodiments, in response to a position difference between an operating endpoint of the attachment joint and a clamping endpoint of the target attachment exceeding an allowable position difference range, adjusting the boom assembly and / or the attachment joint to adjust the position difference between the operating endpoint of the attachment joint and the clamping endpoint of the target attachment to within the allowable position difference range further includes:

[0055] In response to adjusting the angle difference of the boom with the smallest angle difference in the boom assembly to a maximum value of the preset allowable range of the boom angle, or adjusting the angle of the attachment joint to a maximum value of the preset allowable range of the attachment joint, and the height angle difference between the spherical coordinates of the operating end point of the attachment joint and the spherical coordinates of the clamping end point of the target attachment is still less than the minimum value of the allowable range of the height angle difference, comparing the differences between the actual angles of each boom section in the boom assembly and the preset angles of each boom section corresponding to the target attachment, as well as the differences between the actual angles of the attachment joint and the preset angles of the attachment joint corresponding to the target attachment;

[0056] Adjust the arm or accessory joint with the smallest angle difference among the arm assembly and the accessory joints to increase the angle difference of the arm or accessory joint with the smallest angle difference until the height angle difference between the spherical coordinates of the operating end point of the accessory joint and the spherical coordinates of the clamping end point of the target accessory is greater than the minimum value of the allowable range of the height angle difference.

[0057] In some embodiments, in response to the turntable, each boom section of the boom assembly, and the attachment joint all reaching a preset posture corresponding to the target attachment, the operation of causing the attachment joint to pick up the target attachment specifically includes:

[0058] Moving the operating end point of the attachment joint to a first preset position;

[0059] The attachment joint is rotated so that the operating end point of the attachment joint moves to a second preset position and coincides with the clamping end point of the target attachment, so that the attachment joint locks the target attachment.

[0060] In some embodiments, in response to the turntable, each boom section of the boom assembly, and the attachment joint all reaching a preset posture corresponding to the target attachment, the operation of causing the attachment joint to pick up the target attachment further includes:

[0061] In response to the operating end point of the attachment joint reaching the second preset position and coinciding with the clamping end point of the target attachment, the target attachment is vertically lifted by raising the last boom section of the boom assembly and / or lowering the second-to-last boom section of the boom assembly until the height of the clamping end point of the target attachment is greater than the first preset height.

[0062] In some embodiments, in response to the turntable, the boom assembly, and the attachment joint reaching a preset posture corresponding to the target attachment, the operation of returning the attachment joint to the target attachment specifically includes:

[0063] The operating end point of the attachment connector moves to a second preset position so as to coincide with the engaging end point of the target attachment, thereby unlocking the target attachment through the attachment connector;

[0064] The attachment joint is rotated to move the operating end point of the attachment joint to a first preset position.

[0065] In some embodiments, in response to the turntable, the boom assembly, and the attachment joint reaching a preset posture corresponding to the target attachment, the operation of returning the attachment joint to the target attachment further includes:

[0066] In response to the height of the clamping end point of the target attachment being greater than the first preset height, the target attachment is vertically replaced by raising the last boom section of the boom assembly and / or lowering the second-to-last boom section of the boom assembly so that the operating end point of the attachment joint reaches the second preset position and coincides with the clamping end point of the target attachment.

[0067] In some embodiments, dismantling a vehicle further comprises:

[0068] A plurality of accessory in-position detection devices are respectively provided on a plurality of accessory brackets and are configured to detect whether each accessory is located at the corresponding accessory bracket;

[0069] Among them, the demolition vehicle control method also includes:

[0070] In response to determining that the target attachment is located at the attachment bracket by the attachment in-position detection device, the angles of the boom assembly, the attachment joint and / or the turntable are adjusted so that the attachment joint picks up the target attachment.

[0071] In some embodiments, the demolition vehicle control method further includes:

[0072] Before adjusting the turntable to the preset turntable rotation angle corresponding to the target accessory, adjusting each boom section of the boom assembly to the preset boom section angles corresponding to the target accessory, and adjusting the accessory joint to the preset accessory joint angles corresponding to the target accessory, in response to the target accessory being located on the accessory bracket, lift the accessory joint so that the height of the accessory joint is greater than the second preset height so that the accessory joint can pick up the target accessory.

[0073] In some embodiments, the demolition vehicle control method further includes:

[0074] In response to determining through the accessory in-place detection device that the accessory bracket corresponding to the target accessory is in an empty state and the height of the accessory joint is greater than a first preset height, the angle of the arm assembly, the accessory joint and / or the turntable is adjusted so that the accessory joint puts the target accessory back.

[0075] In another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the method for controlling a demolition vehicle as described above is implemented.

[0076] Therefore, according to the embodiment of the present disclosure, by detecting and locating the angles of the boom assembly, turntable and accessory joint, and giving the preset postures that the boom assembly, turntable and accessory joint should be in when picking up and placing each accessory, the operating end point of the accessory joint can be switched to a position convenient for picking up or putting down the target accessory according to the posture of the boom assembly, turntable and accessory joint, meeting the high locking and disassembly requirements of the accessory joint and the accessory, eliminating the need for manual operation to find the correct positioning for picking up and placing accessories, and realizing rapid placement and replacement of different accessories. Compared with manual operation, it can achieve more accurate positioning and placement, which helps to improve rescue efficiency and achieve efficient and reliable rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0078] The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0079] FIG1 is a connection diagram of some embodiments of a demolition vehicle according to the present disclosure;

[0080] FIG2 is a schematic structural diagram of some embodiments of a demolition vehicle according to the present disclosure;

[0081] FIG3 is a schematic diagram of the structure of some embodiments of the demolition vehicle according to the present disclosure in a rectangular coordinate system;

[0082] FIG4 is a schematic diagram of accessories in a rectangular coordinate system according to some embodiments of the demolition vehicle disclosed herein;

[0083] FIG5 is a schematic structural diagram of some embodiments of a demolition vehicle according to the present disclosure in a spherical coordinate system;

[0084] FIG6 is a top view of some embodiments of a demolition vehicle according to the present disclosure in a spherical coordinate system;

[0085] FIG7 is a flow chart of some embodiments of a demolition vehicle control method according to the present disclosure.

[0086] In the figure: 1. chassis; 11. accessory bracket; 111. first accessory bracket; 112. second accessory bracket; 113. third accessory bracket; 114. fourth accessory bracket; 115. fifth accessory bracket; 116. sixth accessory bracket; 2. turntable; 3. accessory; 31. first accessory; 32. second accessory; 33. third accessory; 34. fourth accessory; 35. fifth accessory; 36. sixth accessory; 4. boom assembly; 41. first boom; 42. second boom; 43. third boom; 44. fourth boom; 5. accessory joint; 61. hinge angle detection device; 611. first hinge angle detection device; 612. second hinge angle detection device; 613. third hinge angle detection device Detection device; 614, fourth hinge angle detection device; 615, fifth hinge angle detection device; 62, gravity angle detection device; 621, first gravity angle detection device; 622, second gravity angle detection device; 623, third gravity angle detection device; 624, fourth gravity angle detection device; 625, fifth gravity angle detection device; 7, rotation angle detection device; 8, processor; 9, accessory in place detection device; 91, first accessory in place detection device; 92, second accessory in place detection device; 93, third accessory in place detection device; 94, fourth accessory in place detection device; 95, fifth accessory in place detection device; 96, sixth accessory in place detection device.

[0087] It should be understood that the size of each part shown in the drawings is not drawn according to the actual proportional relationship.In addition, the same or similar reference numerals represent the same or similar components. DETAILED DESCRIPTION

[0088] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure, its application, or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of parts and steps, the composition of materials, numerical expressions, and numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0089] The terms "first", "second" and similar terms used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The terms "include" or "comprises" and similar terms mean that the elements before the term include the elements listed after the term, and do not exclude the possibility of also including other elements. The terms "upper", "lower", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0090] In the present disclosure, when a specific device is described as being located between a first device and a second device, an intervening device may or may not be present between the specific device and the first device or the second device. When a specific device is described as being connected to another device, the specific device may be directly connected to the other device without an intervening device, or may be not directly connected to the other device but with an intervening device.

[0091] All terms (including technical or scientific terms) used in this disclosure have the same meaning as those understood by one of ordinary skill in the art to which this disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, general dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined herein.

[0092] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0093] With rapid economic and social development, fires in enclosed buildings such as shopping malls, warehouses, and factories are becoming increasingly frequent and difficult to extinguish. Once a fire breaks out, it can be difficult for firefighters to reach the scene. Consequently, various firefighting manufacturers have introduced high-arm rescue trucks with powerful demolition and water-spraying capabilities. These trucks are typically equipped with various types of rescue tools, such as rescue drills, rescue hammers, hydraulic shears, and log grabs. Users can select different rescue tools based on the specific medium to complete the required rescue operation.

[0094] In the related art, most of the rescue tools used in rescue vehicles are manually operated for placement and replacement. The locking of the rescue tools and the quick-change connectors requires a high degree of coordination, making it difficult to place and retrieve the rescue tools. Manual operation makes it difficult to quickly and accurately replace the tools, which seriously affects the efficiency of firefighting and rescue. In view of this, in one aspect of the embodiments of the present disclosure, a rescue vehicle is provided that can improve the accuracy of the placement of accessories. Rescue vehicles include but are not limited to rescue fire trucks, which are mainly used for the rescue of enclosed large-scale complex fires. They can use different rescue tools to quickly open fire extinguishing and rescue channels, thereby achieving fast, reliable and effective rescue.

[0095] Figure 1 is a connection relationship diagram of some embodiments of the demolition vehicle according to the present disclosure, Figure 2 is a structural schematic diagram of some embodiments of the demolition vehicle according to the present disclosure, and Figure 3 is a structural schematic diagram of some embodiments of the demolition vehicle according to the present disclosure in a rectangular coordinate system. Referring to Figures 1 to 3, the demolition vehicle includes: a chassis 1, a turntable 2, multiple accessories 3, a boom assembly 4, an accessory joint 5, multiple hinge angle detection devices 61, a rotation angle detection device 7 and a processor 8.

[0096] The chassis 1 has multiple attachment brackets 11, each of which is used to carry a corresponding attachment 3. The attachments 3 are mounted on the attachment brackets 11, including but not limited to six attachments: a first attachment 31, a second attachment 32, a third attachment 33, a fourth attachment 34, a fifth attachment 35, and a sixth attachment 36. Each attachment 3 corresponds to a different function, such as a hydraulic shear, a hydraulic hammer, a hydraulic reel, a demolition drill, a wood grab, and other similar functions, for different demolition work conditions. The number of attachments 3 and the arrangement of the attachment brackets 11 on the chassis 1 can be adjusted according to the actual demolition work needs.

[0097] Turntable 2 is rotatably mounted on chassis 1 and can rotate relative to chassis 1. It is used to secure boom assembly 4 and can drive boom assembly 4 through a 360-degree left-right rotation. Boom assembly 4 is hinged to turntable 2 and comprises multiple boom sections connected sequentially via hinges. Boom assembly 4 includes, but is not limited to, four boom sections: a first boom 41, a second boom 42, a third boom 43, and a fourth boom 44. It may also include a greater or lesser number of boom sections, each of which can rotate independently about a hinge.

[0098] The attachment joint 5 is hingedly connected to the end of the last boom section of the multi-section boom, for example, the end of the fourth boom 44. The attachment joint 5 can rotate about the hinge point with the fourth boom 44. The attachment joint 5 is used to pick up or return any of the multiple attachments 3. The attachment joint 5 includes but is not limited to a quick connection device such as a quick connector.

[0099] Multiple hinge angle detection devices 61 are connected to each boom section and the attachment joint 5, respectively, and are configured to detect the angles between the boom sections and the attachment joints 5. The number of hinge angle detection devices 61 is equal to the number of boom sections, and includes but is not limited to a first hinge angle detection device 611, a second hinge angle detection device 612, a third hinge angle detection device 613, a fourth hinge angle detection device 614, a fifth hinge angle detection device 615, and the like.

[0100] Each hinge angle detection device 61 includes but is not limited to a connection hinge directly hinged to each boom section, and can also be detected through gear meshing, a transmission belt, or a four-bar linkage, etc. Based on the linear relationship between the readings of the first hinge angle detection device 611, the second hinge angle detection device 612, the third hinge angle detection device 613, the fourth hinge angle detection device 614, and the fifth hinge angle detection device 615 and the actual angle, the angle α1 between the first boom 41 and the horizontal plane, the angle α2 between the second boom 42 and the first boom 41, the angle α3 between the third boom 43 and the second boom 42, the angle α4 between the fourth boom 44 and the third boom 43, and the angle α5 between the attachment joint 5 and the fourth boom 44 can be calculated respectively.

[0101] The rotation angle detection device 7 is connected to the turntable 2 and is configured to detect the rotation angle β of the turntable 2 relative to the chassis 1. The processor 8 is signal-connected to the turntable 2, the boom assembly 4, the attachment joint 5, the hinge angle detection device 61, and the rotation angle detection device 7. The processor 8 is configured to adjust the angles of the boom assembly 4, the attachment joint 5, and the turntable 2 to the preset boom assembly angle, the preset attachment joint angle, and the preset turntable rotation angle corresponding to the target attachment 3, respectively, so that the attachment joint 5 can pick up or return the target attachment 3.

[0102] Table 1 below is a table of arm posture planning during the attachment picking process. According to the position of each attachment 3, the preset rotation angle β of the turntable 2 corresponding to the different target attachments 3 is given. n , the first arm preset angle α corresponding to the first arm 41 1n , the second arm preset angle α corresponding to the second arm 42 2n , the third arm bracket preset angle α corresponding to the third arm bracket 43 3n , the fourth arm preset angle α corresponding to the fourth arm 44 4n The preset angle α of the attachment joint corresponding to the attachment joint 5 5n During the process of picking up the attachment 3, the processor 8 sequentially adjusts the postures of the turntable 2, the first arm 41, the second arm 42, the third arm 43, the fourth arm 44, and the attachment connector 5 to the angular positions corresponding to the target attachment 3 to be picked up in Table 1, so that the attachment connector 5 engages with the target attachment 3 and thus picks up the target attachment 3.

[0103] Table 1 Pickup attachment arm posture planning table

[0104] Table 2 below is the arm posture planning table during the process of putting back the attachments. According to the position of each attachment 3, the preset turntable rotation angle β corresponding to the turntable 2 when putting back different target attachments 3 is given. n , the first arm preset angle δ corresponding to the first arm 41 1n , the second arm preset angle δ corresponding to the second arm 422n , the third arm 43 corresponding to the third arm preset angle δ 3n , the fourth arm 44 corresponding to the fourth arm preset angle δ 4n The preset angle δ of the attachment joint corresponding to the attachment joint 5 5n During the process of placing the attachment 3 back, the processor 8 sequentially adjusts the postures of the turntable 2, the first arm 41, the second arm 42, the third arm 43, the fourth arm 44, and the attachment joint 5 to the angular positions corresponding to the target attachment 3 to be picked up in Table 2, so that the attachment joint 5 and the attachment bracket 11 corresponding to the target attachment 3 are close to each other for placing the target attachment 3 back.

[0105] Table 2 Planning table for placing back the attachment arm posture

[0106] In this embodiment, the angles of the boom assembly 4, turntable 2 and accessory joint 5 are detected and positioned, and preset postures of the boom assembly 4, turntable 2 and accessory joint 5 that should be in when picking up and placing each accessory 3 are given, so that the operating end point of the accessory joint 5 can be switched to a position convenient for picking up or putting down the target accessory 3 according to the posture of the boom assembly 4, turntable 2 and accessory joint 5, meeting the high locking and disassembly requirements of the accessory joint 5 and the accessory 3, eliminating the need for manual operation to pick up and place the accessories and spending a lot of time on finding the correct positioning, and can achieve rapid placement and replacement of different accessories 3. Compared with manual operation, it can achieve more accurate positioning and placement, which helps to improve rescue efficiency and achieve efficient and reliable rescue.

[0107] 2 , in some embodiments, the demolition vehicle further includes a plurality of accessory in-place detection devices 9, which are respectively provided on a plurality of accessory brackets 11, corresponding one-to-one to each accessory 3, and configured to detect whether each accessory 3 is located in the corresponding accessory bracket 11. The accessory in-place detection devices 9 include, but are not limited to, a first accessory in-place detection device 91 provided on the first accessory bracket 111, a second accessory in-place detection device 92 provided on the second accessory bracket 112, a third accessory in-place detection device 93 provided on the third accessory bracket 113, a fourth accessory in-place detection device 94 provided on the fourth accessory bracket 114, a fifth accessory in-place detection device 95 provided on the fifth accessory bracket 115, and a sixth accessory in-place detection device 96 provided on the sixth accessory bracket 116.

[0108] Processor 8 is signal-connected to each attachment in-place detection device 9 and is configured to adjust the angles of arm assembly 4, attachment joint 5, and turntable 2 in response to the target attachment 3 being located on attachment bracket 11, so that attachment joint 5 can pick up the target attachment 3. Attachment in-place detection device 9 includes, but is not limited to, detecting above the attachment 3 and may also detect other positions used to determine in-placement. The detection component is not limited to a proximity switch; other position detection components may also be used.

[0109] In this embodiment, during the accessory 3 picking operation, the arm assembly 4, the accessory joint 5 and the turntable 2 are allowed to be unfolded and adjusted in posture only after the accessory 3 is in place, thereby helping to reduce the risk of incorrect positioning of the accessory 3. If the accessory in-place detection device 9 detects that the target accessory 3 is not on the accessory bracket 11, an alarm signal is output; after completing the accessory 3 putting back action, the accessory in-place detection device 9 can also be used to determine whether the accessory 3 is in place, thereby reducing the risk of safety accidents during driving due to the accessory 3 not being in place.

[0110] Referring to Figure 2, in some embodiments, the demolition vehicle also includes multiple gravity-type angle detection devices 62, including but not limited to a first gravity-type angle detection device 621, a second gravity-type angle detection device 622, a third gravity-type angle detection device 623, a fourth gravity-type angle detection device 624, and a fifth gravity-type angle detection device 625. The multiple gravity-type angle detection devices 62 are respectively connected to each section of the boom and the accessory joint 5, arranged on the surface of the boom and the accessory joint 5, and are configured to detect the angles of the multi-section boom and the accessory joint 5.

[0111] The processor 8 is signal-connected to the plurality of gravity-type angle detection devices 62 and is configured to determine the angles of each boom section and attachment joint 5 of the boom assembly 4 based on the angle information obtained by the plurality of hinge angle detection devices 61 and the plurality of gravity-type angle detection devices 62. The gravity-type angle detection device 62 includes, but is not limited to, a gravity sensor.

[0112] In some related technologies, due to the large drift range of the demolition vehicle arm angle, only gravity sensing sensors are used to detect the arm angle. This is affected by the arm shaking and arm deflection, and cannot accurately reflect the actual posture of the arm, and cannot be used for the accurate positioning and motion control of the demolition vehicle attachment 3.

[0113] In this embodiment, a gravity-type angle detection device 62 and a hinge angle detection device 61 are provided to detect the angles of the boom assembly 4 and the accessory joint 5 respectively, and the angle detection data obtained by the two detection methods can be cross-checked. When the hinge angle detection device 61 fails, the two sets of data measured by the gravity-type angle detection device 62 and the hinge angle detection device 61 can be cross-checked to realize an angle credibility alarm, thereby limiting the processor 8 from positioning the boom assembly 4 and the accessory joint 5 according to erroneous angle data, thereby reducing the risk of the accessory 3 not being properly taken and placed due to erroneous angle information generated by a failure of the detection device.

[0114] Figure 4 is a schematic diagram of accessories in a rectangular coordinate system according to some embodiments of the demolition vehicle disclosed herein, Figure 5 is a structural schematic diagram in a spherical coordinate system according to some embodiments of the demolition vehicle disclosed herein, Figure 6 is a top view in a spherical coordinate system according to some embodiments of the demolition vehicle disclosed herein, and Figure 7 is a flow chart of some embodiments of the demolition vehicle control method disclosed herein. Referring to Figures 2 to 7, in another aspect of the embodiments of the present disclosure, a demolition vehicle control method based on any of the above-mentioned demolition vehicles is provided, including: steps S1 to S3.

[0115] In step S1, the hinge angle detection device 61 and the rotation angle detection device 7 respectively obtain angle information of each boom section of the boom assembly 4, the attachment joint 5, and the turntable 2. Based on the readings of the hinge angle detection device 61, the angle α1 between the first boom 41 and the horizontal plane, the angle α2 between the second boom 42 and the first boom 41, the angle α3 between the third boom 43 and the second boom 42, the angle α4 between the fourth boom 44 and the third boom 43, and the angle α5 between the attachment joint 5 and the fourth boom 44 can be calculated. The rotation angle β of the turntable 2 relative to the chassis 1 is obtained through the rotation angle detection device 7.

[0116] In step S2, the postures of the turntable 2, the boom assembly 4 and the accessory joint 5 are adjusted in sequence, so that the turntable 2 is adjusted to the turntable preset rotation angle corresponding to the target accessory 3 in Table 1 or Table 2, and the various boom sections of the boom assembly 4 are respectively adjusted to the various boom preset angles corresponding to the target accessory 3 in Table 1 or Table 2, and the accessory joint 5 is adjusted to the accessory joint preset angle corresponding to the target accessory 3 in Table 1 or Table 2.

[0117] In step S3, in response to the turntable 2, boom assembly 4, and attachment joint 5 all reaching the preset posture corresponding to the target attachment 3, and the attachment joint 5 being located at the attachment bracket 11, the attachment joint 5 may be caused to pick up or return the target attachment 3. Step S3 includes, but is not limited to, causing the attachment joint 5 to pick up or return the target attachment 3 simultaneously with the turntable 2, boom assembly 4, and attachment joint 5 all reaching the preset posture corresponding to the target attachment 3, or causing the attachment joint 5 to pick up or return the target attachment 3 after a preset period of time has passed since the turntable 2, boom assembly 4, and attachment joint 5 all reached the preset posture corresponding to the target attachment 3.

[0118] In this embodiment, the angles of the boom assembly 4, turntable 2 and / or accessory joint 5 are detected and positioned, and preset postures of the boom assembly 4, turntable 2 and accessory joint 5 are given when taking and placing each accessory 3, so that the accessory joint 5 can be switched to the position of the accessory bracket 11 corresponding to the target accessory 3 according to the postures of the boom assembly 4, turntable 2 and accessory joint 5, meeting the high-precision locking and disassembly requirements of the accessory joint 5 and the accessory 3, eliminating the need for manual operation to take and place accessories and the large amount of time required for accurate positioning, and can achieve rapid placement and replacement of different accessories 3. Compared with manual operation, it can achieve more accurate positioning and placement, effectively solving the problem of low efficiency of manual accessory positioning and replacement, helping to improve rescue efficiency and achieve efficient and reliable rescue.

[0119] 2 to 6 , in some embodiments, the operations of adjusting the turntable 2 to a preset turntable rotation angle corresponding to the target attachment 3, adjusting each boom section of the boom assembly 4 to a preset boom section angle corresponding to the target attachment 3, and adjusting the attachment joint 5 to a preset attachment joint angle corresponding to the target attachment 3 specifically include:

[0120] Adjust the angle of the turntable 2 in sequence to within the allowable range of the preset rotation angle of the turntable corresponding to the target attachment 3, adjust the angle of each boom section of the boom assembly 4 to within the allowable range of the preset angle of each boom section corresponding to the target attachment 3, and adjust the angle of the attachment joint 5 to within the allowable range of the preset angle of the attachment joint corresponding to the target attachment 3.

[0121] For example, the rotation angle β of the turntable 2 is set to β n ± △ β, where △ β is the permissible error of the rotation angle of the turntable 2; the angle of the first arm 41 reaches α 1n ±△α1, where △α1 is the allowable angle error of the first arm 41; the angle of the second arm 42 reaches α 2n ±△α2, where △α2 is the allowable error of the angle of the second arm 42; the angle of the third arm 43 reaches α 3n ±△α3, where △α3 is the allowable error of the angle of the third arm 43; the angle of the fourth arm 44 reaches α 4n ±△α4, where △α4 is the allowable error of the angle of the fourth arm 44; so that the angle of the attachment joint 5 reaches α 5n ± △α5, where △α5 is the allowable angle error of the attachment joint 5.

[0122] In this embodiment, the angles of the turntable 2, the first arm 41, the second arm 42, the third arm 43, the fourth arm 44 and / or the attachment joint 5 are adjusted in sequence with reference to the preset angle values ​​in Tables 1 and 2. When the rotation angle of the turntable 2 is β nWhen the preset rotation angle is within the permissible range of ±△β, the angle of the first arm 41 is adjusted so that the first arm 41 is at α 1n After the arm preset angle is within the allowable range of ±△α1, the second arm 42, the third arm 43, the fourth arm 44 and the accessory joint 5 are also adjusted accordingly, so that the accessory joint 5 can quickly respond to the pick-and-place instruction to reach the specified position to carry out the pick-and-place operation of the accessory 3.

[0123] 2 to 6 , in some embodiments, the demolition vehicle control method further includes: establishing a coordinate system with the rotation center of the turntable 2 as the coordinate origin O. Then, based on the distance between the first boom section of the boom assembly 4 and the coordinate origin, the length of each boom section of the boom assembly 4, the length of the attachment joint 5, the angle of each boom section of the boom assembly 4, the angle of the attachment joint 5, and the rotation angle of the turntable 2, the position coordinates of the operating end point of the attachment joint 5 are determined. Based on the distance between the target attachment 3 and the chassis 1, the distance between the target attachment 3 and the coordinate origin, and the deflection angle of the projection of the line connecting the target attachment 3 and the coordinate origin on the xoy plane relative to the y-axis, the position coordinates of the clamping end point of the target attachment 3 are determined.

[0124] The process of determining the position coordinates includes but is not limited to: according to the distance BL0 between the boom hinge point of the first boom 41 and the rotation center O, the length BL1 of the first boom 41, the length BL2 of the second boom 42, the length BL3 of the third boom 43, the length BL4 of the fourth boom 44, the length BL5 of the attachment joint 5, the angle α0 between the line connecting the boom hinge point of the first boom 41 and the rotation center O and the horizontal plane, the angle α1 between the first boom 41 and the horizontal plane, the angle α2 between the second boom 42 and the first boom 41, the angle α3 between the third boom 43 and the second boom 42, the angle α4 between the fourth boom 44 and the third boom 43, the angle α5 between the attachment joint 5 and the fourth boom 44, and the rotation angle β of the turntable 2 relative to the chassis 1, the position coordinates of the operating end point of the attachment joint 5 in the coordinate system are obtained.

[0125] The coordinate determination process of the attachment joint 5 in the rectangular coordinate system is given below:

[0126] The distance between the arm head hinge point of the first arm 41 and the coordinate origin O is S1.

[0127] The angle between the line connecting the arm head hinge point of the first arm 41 and the coordinate origin O and the xoy coordinate plane is σ1,

[0128] It can be obtained that the coordinates of the arm head hinge point of the first arm support 41 in the rectangular coordinate system are (S1*cos(σ1)*sin(β), -S1*cos(σ1)*cos(β), S1*sin(σ1));

[0129] The angle ε′2 of the line connecting the arm head hinge point of the first arm 41 and the coordinate origin O relative to the first arm 41 is,

[0130] The angle between the first boom 41 and the coordinate origin O and the second boom 42 is ε2, ε2 = α2 - ε′2

[0131] The distance between the hinge point of the second boom 42 and the coordinate origin O is S2.

[0132] The angle between the arm head hinge point of the second boom 42 and the luffing hinge point of the first boom 41 and the xoy coordinate plane is σ2.

[0133] It can be obtained that the coordinates of the arm head hinge point of the second arm support 42 in the rectangular coordinate system are (S2*cos(σ2)*cos(β), -S2*cos(σ2)*sin(β), S2*sin(σ2));

[0134] The angle ε′3 of the line connecting the hinge point of the second boom 42 and the coordinate origin O relative to the second boom 42 is,

[0135] The angle between the line connecting the hinge point of the second boom 42 and the coordinate origin O and the third boom 43 is ε3, ε3 = α3 - ε′3

[0136] The distance between the arm head hinge point of the third arm 43 and the coordinate origin O is S3.

[0137] The angle σ3 between the line connecting the hinge point of the third boom 43 and the coordinate origin O and the xoy coordinate plane is:

[0138] It can be obtained that the coordinates of the arm head hinge point of the third arm support 43 in the rectangular coordinate system are (S3*cos(σ3)*cos(β), -S3*cos(σ3)*sin(β), S3*sin(σ3));

[0139] The angle between the arm head hinge point of the third boom 43 and the coordinate origin O and the third boom 43 is ε′4.

[0140] The angle between the line connecting the hinge point of the third boom 43 and the coordinate origin O and the fourth boom 44 is ε4, ε4 = α4 - ε′4

[0141] The distance between the arm head hinge point of the fourth arm 44 and the coordinate origin O is S4.

[0142] The angle σ4 between the line connecting the hinge point of the fourth boom 44 and the coordinate origin O and the xoy coordinate plane is:

[0143] It can be obtained that the coordinates of the arm head hinge point of the fourth arm support 44 in the rectangular coordinate system are (S4*cos(σ4)*cos(β), -S4*cos(σ4)*sin(β), S4*sin(σ4));

[0144] The angle between the arm head hinge point of the fourth arm 44 and the coordinate origin O and the fourth arm 44 is ε′5.

[0145] The distance between the operating end point of the attachment joint 5 and the coordinate origin O is S5. The operating end point of the attachment joint 5 includes but is not limited to the hinge point for connecting the attachment joint with the attachment 3.

[0146] The angle between the line connecting the hinge point of the fourth boom 44 and the coordinate origin O and the fifth boom 45 is ε5, ε5 = α5 - ε′5

[0147] The angle σ5 between the operating end point of the attachment joint 5 and the coordinate origin O and the xoy coordinate plane is:

[0148] It can be obtained that the coordinates of the operating end point of the attachment joint 5 in the rectangular coordinate system are (S5*cos(σ5)*cos(β), -S5*cos(σ5)*sin(β), S5*sin(σ5)).

[0149] The process of determining the position coordinates includes but is not limited to: according to the height distance h1 of the first attachment 31 from the xoy coordinate plane, the height distance h2 of the second attachment 32 from the xoy coordinate plane, the height distance h3 of the third attachment 33 from the xoy coordinate plane, the height distance h4 of the fourth attachment 34 from the xoy coordinate plane, the height distance h5 of the fifth attachment 35 from the xoy coordinate plane, the height distance h6 of the sixth attachment 36 from the xoy coordinate plane, the distance L1 of the first attachment 31 from the coordinate origin O in the xoy plane, the distance L2 of the second attachment 32 from the coordinate origin O in the xoy plane, the height distance h3 of the third attachment 33 from the xoy coordinate plane, the height distance h4 of the fourth attachment 34 from the xoy coordinate plane, the height distance h5 of the fifth attachment 35 from the xoy coordinate plane, the height distance h6 of the sixth attachment 36 from the xoy coordinate plane The distance L3 from the y-plane to the coordinate origin O, the distance L4 from the fourth attachment 34 to the coordinate origin O in the xoy plane, the distance L5 from the coordinate origin O in the xoy plane of the fifth attachment 35, the distance L6 from the coordinate origin O in the xoy plane of the sixth attachment 36, the angle ω1 of the first attachment 31 relative to the y-axis, the angle ω2 of the second attachment 32 relative to the y-axis, the angle ω3 of the third attachment 33 relative to the y-axis, the angle ω4 of the fourth attachment 34 relative to the y-axis, the angle ω5 of the fifth attachment 35 relative to the y-axis, and the angle ω6 of the sixth attachment 36 relative to the y-axis are used to obtain the position coordinates of the clamping end points of each attachment 3 in the coordinate system.

[0150] The position coordinates of each attachment 3 in the rectangular coordinate system are given below:

[0151] The first attachment 31: (L1*sin(ω1), -L1*cos(ω1), h1), the second attachment 32: (-L2*sin(ω2), -L2*cos(ω2), h2), the third attachment 33: (-L3*sin(ω3), -L3*cos(ω3), h3), the fourth attachment 34: (L4*sin(ω4), -L4*cos(ω4), h4), the fifth attachment 35: (L5*sin(ω5), -L5*cos(ω5), h5), the sixth attachment 36: (0, -L6, h6).

[0152] Then, in response to the position difference between the operating endpoint of the attachment joint 5 and the clamping endpoint of the target attachment 3 exceeding the allowable range of the position difference, the boom assembly 4 and / or the attachment joint 5 are adjusted to adjust the position difference between the operating endpoint of the attachment joint 5 and the clamping endpoint of the target attachment 3 to within the allowable range of the position difference.

[0153] To facilitate the control of the movement and adjustment of the boom assembly 4 and the attachment joint 5, the spatial rectangular coordinate system O-xyz is converted into a spherical coordinate system in which the distance between the operating endpoint of the attachment joint 5 and the rotation center of the turntable 2 is r, the angle between the projection of the line connecting the operating endpoint of the attachment joint 5 and the rotation center of the turntable 2 on the xoy plane and the x-axis is ψ, and the angle between the line connecting the operating endpoint of the attachment joint 5 and the rotation center of the turntable 2 and the z-axis is θ. The spherical coordinates of the operating endpoint of the attachment joint 5 are M(r, θ, ψ). The spherical coordinates of the operating endpoint of the attachment joint 5 can also be expressed as M(S5, (π / 2-σ5), ψ). Combining the boom angle and boom length, the conversion formula for the spherical coordinate r is:

[0154] Correspondingly, the spherical coordinates of the clamping end point of the first attachment 31 are M1(R1, ψ1, π / 2-ω1), which can also be expressed as M1(R1, arccos(h1 / R1), π / 2-ω1); the spherical coordinates of the clamping end point of the second attachment 32 are M2(R2, ψ2, π / 2+ω2), which can also be expressed as M2(R2, arccos(h2 / R2), π / 2+ω2); the spherical coordinates of the clamping end point of the third attachment 33 are M3(R3, ψ3, π / 2+ω3), which can also be expressed as M3(R3, arccos(h3 / R3), π / 2 +ω3); the spherical coordinates of the clamping end point of the fourth attachment 34 are M4(R4, ψ4, π / 2-ω4), which can also be expressed as M4(R4, arccos(h4 / R4), π / 2-ω4); the spherical coordinates of the clamping end point of the fifth attachment 35 are M5(R5, ψ5, π / 2-ω5), which can also be expressed as M5(R5, arccos(h5 / R5), π / 2-ω5); the spherical coordinates of the clamping end point of the sixth attachment 36 are M6(R6, ψ6, π / 2), which can also be expressed as M6(R6, arccos(h6 / R6), π / 2).

[0155] In this embodiment, during the adjustment of the arm posture for picking up the attachment 3, a coordinate system is established with the rotation center of the turntable 2 as the coordinate origin and the coordinate positions of the operating end point of the attachment joint 5 and the clamping end point of the target attachment 3 are obtained to facilitate the attachment joint 5 to quickly approach the target attachment 3. In the spherical coordinate system, the projection of the line connecting the operating end point of the attachment joint 5 and the rotation center of the turntable 2 on the xoy plane and the angle ψ with the x-axis can be achieved by rotating the turntable 2. The distance r between the operating end point of the attachment joint 5 and the rotation center of the turntable 2 and the angle θ between the line connecting the operating end point of the attachment joint 5 and the rotation center of the turntable 2 and the z-axis can be achieved by controlling the amplitude change of each section of the arm assembly 4 to achieve the coincidence of radius and angle. After the posture adjustment, check whether the position difference between the operating endpoint of the accessory joint 5 and the clamping endpoint of the target accessory 3 is within the allowable range. The position difference includes but is not limited to the distance r and / or the height angle θ between the operating endpoint of the accessory joint 5 and the clamping endpoint of the target accessory 3 in the spherical coordinate system. If it is not within the allowable range, adjust the boom assembly 4 and / or the accessory joint 5 to make the position difference between the operating endpoint of the accessory joint 5 and the clamping endpoint of the target accessory 3 meet the allowable requirements, so that the accessory joint 5 can achieve more accurate positioning.

[0156] 2 to 6 , in some embodiments, in response to a position difference between an operating endpoint of the attachment joint 5 and a clamping endpoint of the target attachment 3 exceeding an allowable position difference range, the operation of adjusting the boom assembly 4 and / or the attachment joint 5 to adjust the position difference between the operating endpoint of the attachment joint 5 and the clamping endpoint of the target attachment 3 to within the allowable position difference range specifically includes:

[0157] In response to the difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 being greater than the maximum value of the distance difference allowable range, the difference between the actual angle of each boom section in the boom assembly 4 and the preset angle of each boom section corresponding to the target attachment 3, as well as the difference between the preset angle of the attachment joint 5 and the attachment joint corresponding to the target attachment 3 are compared respectively. That is, rR n >ΔR, the difference between the actual angle of each boom and attachment joint 5 and the preset angle in Table 1 or Table 2 is compared, where n represents any attachment of the plurality of attachments 3 .

[0158] Adjust the boom or accessory joint 5 with the largest angle difference among the boom assembly 4 and the accessory joint 5 to reduce the angle difference of the boom or accessory joint 5 with the largest angle difference until the distance difference between the spherical coordinates of the operating end point of the accessory joint 5 and the spherical coordinates of the clamping end point of the target accessory 3 is less than the maximum value of the distance difference allowable range, that is, adjust the posture of the boom or accessory joint 5 with the largest angle difference among the boom assembly 4 and the accessory joint 5 to reduce the angle difference so that -△R≤rR n ≤△R.

[0159] In this embodiment, the angles of the turntable 2, the arm assembly 4 and the accessory joint 5 are first roughly adjusted so that they are switched to the allowable error range in turn, and then the position actually reached by the operating endpoint of the accessory joint 5 is compared with the position of the clamping endpoint of the target accessory 3. If the position of the operating endpoint of the accessory joint 5 does not meet the preset position requirement, the arm or accessory joint 5 with the largest angle difference is selected for corresponding fine adjustment, so that the distance difference between the spherical coordinates of the operating endpoint of the accessory joint 5 and the spherical coordinates of the clamping endpoint of the target accessory 3 is within the allowable range of the distance difference, so as to achieve a more accurate attachment 3 picking operation.

[0160] 2 to 6 , in some embodiments, in response to a position difference between an operating endpoint of the attachment joint 5 and a clamping endpoint of the target attachment 3 exceeding an allowable range of position differences, adjusting the boom assembly 4 and / or the attachment joint 5 to adjust the position difference between the operating endpoint of the attachment joint 5 and the clamping endpoint of the target attachment 3 to within the allowable range of position differences further includes:

[0161] In response to the difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 being less than the minimum value of the distance difference allowable range, the difference between the actual angle of each boom section in the boom assembly 4 and the preset angle of each boom section corresponding to the target attachment 3, as well as the difference between the preset angle of the attachment joint 5 and the attachment joint corresponding to the target attachment 3 are compared respectively. That is, rR n <-ΔR, the difference between the actual angle of each boom and attachment joint 5 and the preset angle in Table 1 or Table 2 is compared, where n represents any attachment of the plurality of attachments 3 .

[0162] Adjust the boom or attachment joint 5 with the smallest angle difference in the boom assembly 4 to increase the angle difference of the boom or attachment joint 5 with the smallest angle difference until the distance difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 is greater than the minimum value of the distance difference allowable range, that is, adjust the posture of the boom or attachment joint 5 with the smallest angle difference in the boom assembly 4 and the attachment joint 5 to increase the angle difference so that -△R≤rR n ≤△R.

[0163] In this embodiment, the angles of the turntable 2, the arm assembly 4 and the accessory joint 5 are first roughly adjusted so that they are switched to the allowable error range in turn, and then the position actually reached by the operating endpoint of the accessory joint 5 is compared with the position of the clamping endpoint of the target accessory 3. If the position of the operating endpoint of the accessory joint 5 does not meet the preset position requirement, the arm or accessory joint 5 with the smallest angle difference is selected for corresponding fine adjustment, so that the distance difference between the spherical coordinates of the operating endpoint of the accessory joint 5 and the spherical coordinates of the clamping endpoint of the target accessory 3 is within the allowable range of distance difference, so as to achieve more accurate accessory 3 picking operation.

[0164] 2 to 6 , in some embodiments, in response to a position difference between an operating endpoint of the attachment joint 5 and a clamping endpoint of the target attachment 3 exceeding an allowable range of position differences, adjusting the boom assembly 4 and / or the attachment joint 5 to adjust the position difference between the operating endpoint of the attachment joint 5 and the clamping endpoint of the target attachment 3 to within the allowable range of position differences further includes:

[0165] In response to adjusting the boom angle difference with the largest angle difference in the boom assembly 4 to be equal to the minimum value of the boom preset angle allowable range, or adjusting the angle difference of the attachment joint 5 to be equal to the minimum value of the attachment joint preset angle allowable range, the distance difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 is still greater than the maximum value of the distance difference allowable range, respectively compare the difference between the actual angle of each boom section in the boom assembly 4 and the preset angle of each boom section corresponding to the target attachment 3, as well as the difference between the attachment joint 5 and the preset angle of the attachment joint corresponding to the target attachment 3. If the angle difference of the boom or attachment joint 5 with the largest angle difference is reduced to -△α n When -△R≤rR n ≤△R, continue to compare the angle differences of the boom assembly 4 and the accessory joint 5.

[0166] Adjust the arm or accessory joint 5 with the largest angle difference among the arm assembly 4 and the accessory joint 5 to reduce the angle difference of the arm or accessory joint 5 with the largest angle difference until the distance difference between the spherical coordinates of the operating end point of the accessory joint 5 and the spherical coordinates of the clamping end point of the target accessory 3 is less than the maximum value of the distance difference allowable range. That is, adjust the posture of the arm or accessory joint 5 with the largest angle difference among the current arm assembly 4 and the accessory joint 5 to reduce the angle difference so that -△R≤rR n ≤△R.

[0167] In this embodiment, when the arm or accessory joint 5 with the largest angle difference is initially adjusted to the endpoint value of the error range, if the distance difference still cannot meet the requirement, a further angle difference comparison is performed to determine the arm or accessory joint 5 with the largest angle difference in the current state, and its posture is adjusted until the distance difference between the spherical coordinates of the operating endpoint of the accessory joint 5 and the clamping endpoint of the target accessory is within the allowable range of the distance difference.

[0168] 2 to 6 , in some embodiments, in response to a position difference between an operating endpoint of the attachment joint 5 and a clamping endpoint of the target attachment 3 exceeding an allowable range of position differences, adjusting the boom assembly 4 and / or the attachment joint 5 to adjust the position difference between the operating endpoint of the attachment joint 5 and the clamping endpoint of the target attachment 3 to within the allowable range of position differences further includes:

[0169] In response to adjusting the angle difference of the boom with the smallest angle difference in the boom assembly 4 to equal the maximum value of the preset allowable range of the boom angle, or adjusting the angle difference of the attachment joint 5 to the maximum value of the preset allowable range of the attachment joint angle, the distance difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 is still less than the minimum value of the distance difference allowable range, respectively compare the difference between the actual angle of each boom section in the boom assembly 4 and the preset angle of each boom section corresponding to the target attachment 3, as well as the difference between the attachment joint 5 and the preset angle of the attachment joint corresponding to the target attachment 3. If the angle difference of the boom or attachment joint 5 with the smallest angle difference is increased to Δα n When -△R≤rR n ≤△R, continue to compare the angle differences of the boom assembly 4 and the accessory joint 5.

[0170] Adjust the boom assembly 4 and the attachment joint 5 with the smallest angle difference to increase the angle difference of the boom or attachment joint 5 with the smallest angle difference until the distance difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 is greater than the minimum value of the distance difference allowable range. In other words, adjust the posture of the boom assembly 4 or the attachment joint 5 with the largest angle difference to reduce the angle difference so that -△R≤rR n ≤△R.

[0171] In this embodiment, when the arm or accessory joint 5 with the smallest angle difference is initially adjusted to the endpoint value of the error range, if the distance difference still cannot meet the requirement, a further angle difference comparison is performed to determine the arm or accessory joint 5 with the smallest angle difference in the current state, and its posture is adjusted until the distance difference between the spherical coordinates of the operating endpoint of the accessory joint 5 and the clamping endpoint of the target accessory is within the allowable range of the distance difference.

[0172] 2 to 6 , in some embodiments, in response to a position difference between an operating endpoint of the attachment joint 5 and a clamping endpoint of the target attachment 3 exceeding an allowable range of position differences, adjusting the boom assembly 4 and / or the attachment joint 5 to adjust the position difference between the operating endpoint of the attachment joint 5 and the clamping endpoint of the target attachment 3 to within the allowable range of position differences further includes:

[0173] In response to the difference in height angle between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 being greater than the maximum value of the allowable range of the height angle difference, the difference between the actual angle of each boom section in the boom assembly 4 and the preset angle of each boom section corresponding to the target attachment 3, as well as the difference between the attachment joint 5 and the preset angle of the attachment joint corresponding to the target attachment 3 are compared, that is, the height angle θ of the operating end point of the attachment joint 5 in the spherical coordinate system is compared with the height angle θ of the clamping end point of the target attachment 3 in the spherical coordinate system. nThe difference between θ and θ n >△θ, then adjust the boom assembly 4 and the accessory joint 5 with the largest boom angle difference.

[0174] Adjust the arm with the largest angle difference in the arm assembly 4 or the attachment joint 5 to reduce the angle difference of the arm or attachment joint 5 with the largest angle difference until the height angle difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 is less than the maximum value of the allowable range of the height angle difference, that is, the angle difference is reduced so that the height angle difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 satisfies -△θ≤θ-θ n ≤△θ, which is within the allowable range of height angle difference.

[0175] In this embodiment, the angles of the turntable 2, the arm assembly 4 and the accessory joint 5 are first roughly adjusted so that they are switched to the allowable error range in turn, and then the position actually reached by the operating endpoint of the accessory joint 5 is compared with the height angle of the target accessory 3. If the height angle of the operating endpoint of the accessory joint 5 does not meet the preset requirements, the arm or accessory joint 5 with the largest angle difference is selected for corresponding fine adjustment, so that the distance difference between the spherical coordinates of the operating endpoint of the accessory joint 5 and the spherical coordinates of the clamping end point of the target accessory 3 is within the allowable range of the height angle difference, so as to achieve a more accurate accessory 3 picking operation.

[0176] 2 to 6 , in some embodiments, in response to a position difference between an operating endpoint of the attachment joint 5 and a clamping endpoint of the target attachment 3 exceeding an allowable range of position differences, adjusting the boom assembly 4 and / or the attachment joint 5 to adjust the position difference between the operating endpoint of the attachment joint 5 and the clamping endpoint of the target attachment 3 to within the allowable range of position differences further includes:

[0177] In response to the difference in height angle between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 being less than the minimum value of the allowable range of height angle difference, the difference between the actual angle of each boom section in the boom assembly 4 and the preset angle of each boom section corresponding to the target attachment 3, as well as the difference between the attachment joint 5 and the preset angle of the attachment joint corresponding to the target attachment 3 are compared, that is, the height angle θ of the operating end point of the attachment joint 5 in the spherical coordinate system is compared with the height angle θ of the clamping end point of the target attachment 3 in the spherical coordinate system. n The difference between θ and θ n <-△θ, then adjust the boom assembly 4 and the accessory joint 5 with the smallest boom angle difference.

[0178] Adjust the boom or attachment joint 5 with the smallest angle difference in the boom assembly 4 to increase the angle difference of the boom or attachment joint 5 with the smallest angle difference until the height angle difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 is greater than the minimum value of the allowable range of the height angle difference, even if the angle difference is increased so that the height angle difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 satisfies -△θ≤θ-θ n ≤△θ, which is within the allowable range of height angle difference.

[0179] In this embodiment, the angles of the turntable 2, the arm assembly 4 and the accessory joint 5 are first roughly adjusted so that they are switched to the allowable error range in turn, and then the position actually reached by the operating endpoint of the accessory joint 5 is compared with the height angle of the target accessory 3. If the height angle of the operating endpoint of the accessory joint 5 does not meet the preset requirements, the arm or accessory joint 5 with the smallest angle difference is selected for corresponding fine adjustment, so that the distance difference between the spherical coordinates of the operating endpoint of the accessory joint 5 and the spherical coordinates of the clamping end point of the target accessory 3 is within the allowable range of the height angle difference, so as to achieve a more accurate accessory 3 picking operation.

[0180] 2 to 6 , in some embodiments, in response to a position difference between an operating endpoint of the attachment joint 5 and a clamping endpoint of the target attachment 3 exceeding an allowable range of position differences, adjusting the boom assembly 4 and / or the attachment joint 5 to adjust the position difference between the operating endpoint of the attachment joint 5 and the clamping endpoint of the target attachment 3 to within the allowable range of position differences further includes:

[0181] In response to adjusting the angle difference of the boom with the largest angle difference in the boom assembly 4 to equal the minimum value of the preset allowable range of the boom angle, or adjusting the angle difference of the attachment joint 5 to the minimum value of the preset allowable range of the attachment joint angle, the height angle difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 is still greater than the maximum value of the allowable range of the height angle difference, respectively compare the difference between the actual angle of each boom section in the boom assembly 4 and the preset angle of each boom section corresponding to the target attachment 3, as well as the difference between the attachment joint 5 and the preset angle of the attachment joint corresponding to the target attachment 3. If the angle difference of the boom or attachment joint 5 with the largest angle difference is reduced to -△α n When , it is still impossible to make -△θ≤θ-θ n ≤△θ, continue to compare the angle differences between the boom assembly 4 and the attachment joint 5.

[0182] Adjust the boom or attachment joint 5 with the largest angle difference among the boom assembly 4 and the attachment joint 5 to reduce the angle difference of the boom or attachment joint 5 with the largest angle difference until the height angle difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 is less than the maximum value of the allowable range of the height angle difference. In other words, adjust the posture of the boom or attachment joint 5 with the largest angle difference among the current boom assembly 4 and the attachment joint 5 to reduce the angle difference so that -△θ≤θ-θ n ≤△θ.

[0183] In this embodiment, when the arm or accessory joint 5 with the largest angle difference is initially adjusted to the endpoint value of the error range, the height angle difference still cannot meet the requirement, then further angle difference comparison is performed, and the arm or accessory joint 5 with the largest angle difference in the current state is determined, and the posture of the arm or accessory joint 5 is adjusted until the height angle difference of the spherical coordinates of the operating endpoint of the accessory joint 5 and the clamping endpoint of the target accessory is within the allowable range of the height angle difference.

[0184] 2 to 6 , in some embodiments, in response to a position difference between an operating endpoint of the attachment joint 5 and a clamping endpoint of the target attachment 3 exceeding an allowable range of position differences, adjusting the boom assembly 4 and / or the attachment joint 5 to adjust the position difference between the operating endpoint of the attachment joint 5 and the clamping endpoint of the target attachment 3 to within the allowable range of position differences further includes:

[0185] In response to adjusting the angle difference of the boom with the smallest angle difference in the boom assembly 4 to equal the maximum value of the preset allowable range of the boom angle, or adjusting the angle difference of the attachment joint 5 to the maximum value of the preset allowable range of the attachment joint angle, the height angle difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 is still less than the minimum value of the height angle difference allowable range, the actual angle difference between each boom section in the boom assembly 4 and the boom assembly preset angle corresponding to the target attachment 3, as well as the difference between the attachment joint 5 and the attachment joint preset angle corresponding to the target attachment 3 are compared. If the angle difference of the boom or attachment joint 5 with the smallest angle difference is increased to Δα n When -△θ≤θ-θ n ≤△θ, continue to compare the angle differences between the boom assembly 4 and the attachment joint 5.

[0186] Adjust the boom assembly 4 and the attachment joint 5 with the smallest angle difference to increase the angle difference of the boom or attachment joint 5 with the smallest angle difference until the height angle difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 is greater than the minimum value of the allowable range of the height angle difference. In other words, adjust the posture of the boom assembly 4 or the attachment joint 5 with the largest angle difference to reduce the angle difference so that -△θ≤θ-θn ≤△θ.

[0187] In this embodiment, when the arm or accessory joint 5 with the smallest angle difference is initially adjusted to the endpoint value of the error range, the height angle difference still cannot meet the requirement, then further angle difference comparison is performed, and the arm or accessory joint 5 with the smallest angle difference in the current state is determined, and the posture of the arm or accessory joint 5 is adjusted until the height angle difference of the spherical coordinates of the operating endpoint of the accessory joint 5 and the clamping endpoint of the target accessory is within the allowable range of the height angle difference.

[0188] 2 to 6 , in some embodiments, in response to a position difference between an operating endpoint of the attachment joint 5 and a clamping endpoint of the target attachment 3 exceeding an allowable range of position differences, adjusting the boom assembly 4 and / or the attachment joint 5 to adjust the position difference between the operating endpoint of the attachment joint 5 and the clamping endpoint of the target attachment 3 to within the allowable range of position differences further includes:

[0189] During the adjustment of the angle difference of the boom, the distance difference between the spherical coordinates of the operating end point of the attachment joint 5 and the spherical coordinates of the clamping end point of the target attachment 3 is maintained within an allowable range of the distance difference.

[0190] In this embodiment, during the adjustment of the height angle, while switching the postures of the arm and the accessory joint 5, the distance difference between the spherical coordinates of the operating end point of the accessory joint 5 and the spherical coordinates of the clamping end point of the target accessory 3 must be detected in real time, so that the distance difference is always within the range of [-△R, +△R].

[0191] 2 to 6 , in some embodiments, in response to the turntable 2 , the boom assembly 4 , and the attachment joint 5 all reaching a preset posture corresponding to the target attachment 3 , the operation of causing the attachment joint 5 to pick up the target attachment 3 specifically includes:

[0192] Move the operating end of the attachment joint 5 to the first preset position, which is N in FIG. n The coordinate in the spherical coordinate system is N n (R n1 , ψ n1 ,π / 2-ω n ), wherein n is any one of the plurality of attachments 3;

[0193] The attachment joint 5 moves to the first preset position N n Then, the attachment joint 5 is rotated so that the operating end point of the attachment joint 5 reaches the second preset position M in FIG. n (R n , ψ n ,π / 2-ω n) to coincide with the clamping end point of the target attachment 3 so that the attachment connector 5 locks the target attachment 3. The second preset position M n The coordinate values ​​in the spherical coordinate system can be selected from the allowable error ranges of △r1, △θ1, and △ψ1, that is, the attachment joint is at the second preset position M n When the coordinate value is (R n ±△r1,ψ n ±△θ1,π / 2-ω n ±△ψ1).

[0194] In this embodiment, during the picking up process of the attachment 3 , the attachment connector 5 may be rotated to the first preset position for preliminary positioning, and then the attachment connector 5 may be rotated to the second preset position to be locked and engaged with the target attachment 3 .

[0195] 2 to 6 , in some embodiments, in response to the turntable 2 , the boom assembly 4 , and the attachment joint 5 all reaching a preset posture corresponding to the target attachment 3 , the operation of causing the attachment joint 5 to pick up the target attachment 3 further includes:

[0196] In response to the operating end point of the attachment joint 5 reaching the second preset position and coinciding with the clamping end point of the target attachment 3, the target attachment 3 is vertically lifted by raising the last boom section of the boom assembly 4 and / or lowering the second-to-last boom section of the boom assembly 4 until the height of the clamping end point of the target attachment 3 is greater than the first preset height.

[0197] As shown in FIG5 , the movement amplitude of the attachment joint 5 is LA, LA=r*sinθ, and the movement amplitude of the attachment 3 is L n , where L n is the distance between the projection of different attachments 3 in the xoy plane and the coordinate origin O, ensuring that the movement range of the attachment joint 5 and the position change difference of the attachment 3 during the action are LA-L n Within the allowable range △L.

[0198] If LA-L n >△L, then stop raising the fourth boom 44 and continue lowering the third boom 43. If LA-L n <-△ L, then stop lowering the third boom 43 and continue to raise the fourth boom 44 until the height z of the operating end point M of the attachment joint 5 in the rectangular coordinate system is greater than the first preset height, that is, z ≥ h max +△h,h max is the maximum height of the accessories 3, and △h is the reserved safety height.

[0199] In this embodiment, in order to ensure that the target attachment 3 can be removed smoothly, the target attachment 3 can be vertically lifted by raising the fourth arm 44 and lowering the third arm 43 to complete the action of picking up the attachment 3. Afterwards, the arm assembly 4 or the attachment joint 5 can be adjusted as needed to complete the corresponding rescue work.

[0200] 2 to 6 , in some embodiments, in response to the turntable 2 , the boom assembly 4 , and the attachment joint 5 reaching a preset posture corresponding to the target attachment 3 , the operation of placing the attachment joint 5 back into the target attachment 3 specifically includes:

[0201] Move the operating end of the attachment joint 5 to the second preset position M n (R n , ψ n ,π / 2-ω n ), coincides with the clamping end point of the target attachment 3, so that the attachment connector 5 unlocks the target attachment 3. n The coordinate values ​​in the spherical coordinate system can be selected from the allowable error ranges of △r1, △θ1, and △ψ1, that is, the attachment joint is at the second preset position M n When the coordinate value is (R n ±△r1,ψ n ±△θ1,π / 2-ω n ±△ψ1).

[0202] After the attachment joint 5 reaches the second preset position and releases the target attachment 3, the attachment joint 5 is rotated so that the operating end point of the attachment joint 5 reaches the first preset position N. n (R n1 , ψ n1 ,π / 2-ω n ), then the attachment joint 5 can stop moving, and the movement of the boom and the attachment joint 5 can be adjusted as needed later. n The coordinate values ​​in the spherical coordinate system can be selected from the allowable error ranges of △r2, △θ2, and △ψ2, that is, the tool joint is at the first preset position M n When the coordinate value is (R n ±△r2,ψ n ±△θ2,π / 2-ω n ±△ψ2).

[0203] In this embodiment, during the return process of the attachment 3, the attachment joint 5 can be first moved to the second preset position to unlock the attachment 3, and then the attachment joint 5 can be rotated to the first preset position to facilitate subsequent movements of the attachment joint 5. Referring to Figures 2 to 6, in some embodiments, in response to the turntable 2, the boom assembly 4, and the attachment joint 5 reaching the preset posture corresponding to the target attachment 3, the operation of returning the attachment joint 5 to the target attachment 3 further includes:

[0204] In response to the height of the clamping end point of the target attachment 3 being greater than the first preset height (h max +△h), by raising the last boom section of the boom assembly 4 and / or lowering the second-to-last boom section of the boom assembly 4, the target attachment 3 is vertically replaced, so that the operating end point of the attachment joint 5 reaches the second preset position and coincides with the clamping end point of the target attachment 3.

[0205] As shown in FIG5 , the movement amplitude of the attachment joint 5 is LA, LA=r*sinθ, and the movement amplitude of the attachment 3 is L n , where L n The distance between the projection of different attachments 3 in the xoy plane and the coordinate origin O is the difference between the amplitude and the position change of the attachment 3 during the action. n Within the allowable range △L.

[0206] If LA-L n >△L, then stop raising the third boom 43 and continue to lower the fourth boom 44. If LA-L n <△L, then stop lowering the fourth boom 44 and continue to raise the third boom 43 until the operating end point M of the attachment joint 5 in the rectangular coordinate system is aligned with the coordinate M of the corresponding target attachment 3. n coincide, or their errors are within the range of △r1, △θ1, △ψ1.

[0207] In this embodiment, in order to ensure that the target attachment 3 can be successfully put back, the target attachment 3 can be vertically lowered by lowering the fourth arm 44 and raising the third arm 43 to complete the action of putting the attachment 3 back. Afterwards, the arm assembly 4 or the attachment joint 5 can be adjusted as needed to complete the corresponding rescue work.

[0208] 2 to 6 , in some embodiments, the demolition vehicle further includes a plurality of accessory in-place detection devices 9 , which are respectively disposed on a plurality of accessory brackets 11 and configured to detect whether each accessory 3 is located at a corresponding accessory bracket 11 .

[0209] The demolition vehicle control method further includes: in response to the target attachment 3 being located at the attachment bracket 11 , adjusting the angles of the boom assembly 4 , the attachment joint 5 and / or the turntable 2 so that the attachment joint 5 picks up the target attachment 3 .

[0210] In this embodiment, during the operation of picking up the accessory 3, the arm assembly 4, the accessory joint 5 and the turntable 2 are allowed to be unfolded and adjusted in posture only after the accessory 3 is in place, thereby reducing the risk of incorrect positioning of the accessory 3. If the accessory in-place detection device 9 detects that the target accessory 3 is not on the accessory bracket 11, an alarm signal is output; after completing the action of putting the accessory 3 back, the accessory in-place detection device 9 can also be used to determine whether the accessory 3 is in place, thereby reducing the risk of safety accidents during driving due to the accessory 3 not being in place.

[0211] 2 to 6 , in some embodiments, the demolition vehicle control method further includes: adjusting the turntable 2 to a preset turntable rotation angle corresponding to the target attachment 3, adjusting each boom section of the boom assembly 4 to a preset boom section angle corresponding to the target attachment 3, and adjusting the attachment joint 5 to a preset attachment joint angle corresponding to the target attachment 3; in response to the target attachment 3 being located at the attachment bracket 11, lifting the attachment joint 5 so that the height of the attachment joint 5 is greater than a second preset height, so that the attachment joint 5 can perform corresponding posture movement adjustments driven by the boom assembly 4 and the turntable 2, and avoiding the boom assembly 4 and the attachment joint 5 from colliding with the vehicle body during the movement.

[0212] In this embodiment, since mechanical equipment is arranged on the periphery of the demolition vehicle, in order to prevent the adjustment of the arm assembly 4 from causing a collision with the vehicle body, before the operation of picking up the target attachment 3, the height of the operating end point of the attachment joint 5 can be adjusted to ensure that the height z of the operating end point of the attachment joint in the rectangular coordinate system is greater than the set second preset height H s After that, subsequent posture adjustment and picking operations can be performed.

[0213] 2 to 6 , in some embodiments, the demolition vehicle control method further includes: in response to the target attachment 3 not being located on the attachment bracket 11 and the height of the attachment joint 5 being greater than or equal to a first preset height, adjusting the angle of the boom assembly 4, the attachment joint 5 and / or the turntable 2 so that the attachment joint 5 is placed back on the target attachment 3.

[0214] In this embodiment, since the attachment 3 has a certain height, the height of the operating end point of the attachment joint 5 needs to be adjusted before the return operation, and subsequent operations are performed only after ensuring that the height z of the operating end point of the attachment joint in the rectangular coordinate system is greater than or equal to a first preset height. The first preset height includes but is not limited to h max +△h,h max is the height of the largest attachment 3 among all the attachments 3, and △h is the reserved safety height.

[0215] Referring to Figures 2 to 6 , picking up a target attachment 3 may include three steps: locating the attachment 3, engaging the attachment 3, and picking up the attachment 3. An operating device may be connected to the processor 8 so that the attachment 3 can be retrieved with a single click of the operating device. A human-computer interaction interface may be added to monitor the coordinates and target values ​​of the attachment connector 5 in real time, facilitating operator judgment and operation. The following describes the operational flow for picking up a target attachment 3 in some embodiments:

[0216] The attachment in place detection device 9 determines whether the target attachment 3 is on the corresponding attachment bracket 11. If not, an alarm signal is output. If so, the attachment joint 5 is lifted so that the height of the attachment joint is greater than the second preset height H. s .

[0217] Adjust the rotation angle of the turntable 2 so that the rotation angle β of the turntable 2 is within the β corresponding to the target attachment 3. n Within the range of ±△β, when the rotation angle is in place, the first arm 41 and the second arm 42 are adjusted so that the angle of the first arm 41 reaches α 1n ±△α1, the angle of the second arm 42 reaches α 2n ±△α2, after the first arm 41 and the second arm 42 are in place, adjust the third arm 43 and the fourth arm 44 so that the angle of the third arm 43 reaches α 3n ±△α3, the fourth boom 44 reaches α 4n ±△α4, after the third boom 43 and the fourth boom 44 are in place, the action of the attachment joint 5 is controlled so that the angle of the attachment joint 5 reaches the set angle α 5n ±△α5. After the angles of each boom section and the attachment joint 5 reach the predetermined position, the spherical coordinates M(r, θ, ψ) of the operating point of the attachment joint 5 are calculated, and the difference between the spherical coordinates of the hinge point of the attachment joint 5 and the spherical coordinates of the target attachment 3 is compared. ψ can be adjusted to be within the allowable error △β by controlling the rotation angle β.

[0218] Compare the distance r in the spherical coordinates of the attachment joint 5 with the R in the spherical coordinates of the target attachment 3 n The difference between the two values ​​is within the allowable error range △R, if rR n >△R, then compare the actual angle difference between the boom assembly 4 and the attachment joint 5, and control the movement of the boom or attachment joint 5 with the largest angle difference to reduce the angle difference until -△R≤rR n ≤△R; if the arm or attachment joint 5 with the largest control angle difference moves to the angle allowable error -△α n When -△R≤rR n ≤△R, continue to compare the angle difference, control the movement of the arm or attachment joint 5 with the largest angle difference to reduce the angle difference until -△R≤rR n ≤△R. On the contrary, if rRn <-△R, then compare the actual angle difference between the boom assembly 4 and the attachment joint 5, control the movement of the boom or attachment joint 5 with the smallest angle difference, and increase the angle difference until △R ≥ rR n ≥-△R, if the arm or attachment joint 5 with the smallest control angle difference moves to the angle allowable error △α n , still can not make rR n >-△R, continue to compare the angle difference, control the movement of the arm or attachment joint 5 with the smallest angle difference to increase the angle difference until △R ≥ rR n ≥-△R.

[0219] Compare the height angle θ of the spherical coordinates of the attachment joint 5 with the height angle θ of the spherical coordinates of the target attachment 3 n The difference between θ and θ is within the allowable error range △θ. n >△θ, then compare the actual angle difference between the boom assembly 4 and the attachment joint 5, control the movement of the boom or attachment joint 5 with the largest angle difference to reduce the angle difference, and monitor the distance difference rR of the spherical coordinates at the same time n , so that it is within the range of [-△R, +△R]. If the control angle difference is the largest boom or attachment joint 5 to the allowable error of -△α n , still cannot make -△θ≤θ-θ n ≤△θ, continue to compare the angle difference, control the movement of the arm or attachment joint 5 with the largest angle difference to reduce the angle difference, until -△θ≤θ-θ n ≤△θ, if the distance difference rR of the spherical coordinates is caused during the action n When the boundary ±△R is reached, the angle difference of the boom or accessory joint 5 is compared. If the boom or accessory joint 5 with the largest angle difference is still the boom or accessory joint 5, the action of this boom or accessory joint 5 is stopped, and the action of the boom or accessory joint 5 with the second largest angle difference is adjusted. Under the condition that θ and r do not exceed their boundary conditions, make -△θ ≤ θ-θ n ≤△θ; if it is not the boom or accessory joint 5, continue to adjust the boom or accessory joint 5 with the largest angle difference until -△θ≤θ-θ n ≤△θ; On the contrary, if θ-θ n <-△θ, then compare the actual angle difference of each boom and attachment joint 5, control the movement of the boom or attachment joint 5 with the smallest angle difference to increase the angle difference, and monitor the distance difference rR of the spherical coordinates at the same time n , so that it is within the range of [-△R, +△R]. If the arm or attachment joint 5 with the largest angle difference is controlled to the allowable error of -△α n , still cannot make △θ≥θ-θ n ≥-△θ, continue to compare the angle difference of the boom or accessory joint 5, control the movement of the boom or accessory joint 5 with the smallest angle difference, and increase the angle difference until △θ≥θ-θn ≥-△θ, if the distance difference of the spherical coordinates during the action is rR n When the boundary ±△R is reached, the angle difference of the boom or accessory joint 5 is compared. If the boom or accessory joint 5 with the smallest angle difference is still the boom or accessory joint 5, the action of this boom or accessory joint 5 is stopped, and the action of the boom or accessory joint 5 with the second smallest angle difference is adjusted. Under the condition that θ and r do not exceed their boundary conditions, △θ ≥ θ - θ n ≥-△θ; If it is not this boom or accessory joint 5, continue to adjust the boom or accessory joint 5 with the smallest angle difference until △θ≥θ-θ n ≥-△θ.

[0220] When the operating end point of the attachment joint 5 reaches the first preset position N n When the pin is engaged, the accessory joint 5 is rotated so that the operating end point of the accessory joint 5 reaches the second preset position Mn, and the error at the second preset position is within the range of △r1, △θ1, and △ψ1. The action is stopped and the accessory joint 5 is locked.

[0221] In order to ensure that the attachment 3 can be taken out smoothly and then the corresponding arm movement operation can be performed, the attachment 3 needs to be raised to the corresponding height h n , as shown in Figure 3, h n The height of each attachment 3. After pressing the one-touch attachment button, the fourth arm 44 is raised and the third arm 43 is lowered to ensure that the attachment 3 moves in the vertical direction. Here, the value of the corresponding amplitude LA of the attachment joint 5 needs to be calculated, that is, LA = r*sinθ. During the action, the difference between the amplitude and the position change of the attachment 3 is ensured to be LA-L. n Within the allowable range △L. If LA-L n >△L, then stop raising the fourth boom 44 and continue lowering the third boom 43. If LA-L n <-△L, then stop lowering the third boom 43 and continue raising the fourth boom 44 until the height z of the operating end point of the attachment joint 5 in the orthogonal coordinate system is ≥h max +△h,h max is the height of the largest attachment 3 among multiple attachments 3, and △h is the reserved safety height. The action of lifting the attachment 3 is completed, and the corresponding arm action can be performed later according to needs to complete the corresponding rescue work.

[0222] 2 to 6 , placing the target attachment 3 back may include three steps: positioning the attachment 3, placing the attachment 3 back, and releasing the axle pin of the attachment 3 . An operating device may be connected to the processor 8 so that the attachment 3 can be retrieved by a single-touch operation of the operating device. The following provides an operational flow for retrieving the target attachment 3 in some embodiments:

[0223] Since the attachment 3 has a certain height, the positioning process needs to determine the z value in the rectangular coordinates of the operating end point of the attachment joint 5 and the h value. max The size relationship of h max is the maximum height of the multiple attachments 3, △h is the reserved safety height, when z≥h max +△h, you can perform posture adjustment actions.

[0224] After the attachment 3 is finished, press the attachment placement button. The attachment in place detection device 9 determines whether the attachment currently in use on the vehicle is on its corresponding attachment bracket 11. If it is, an alarm signal is output. If not, the angles of the turntable 2, arm assembly 4 and attachment joint 5 are adjusted according to Table 2 above. First, raise the first arm 41 to its predetermined position angle δ 1n , and within its error range △δ 1n Adjust the second arm 42 to the predetermined position angle δ 2n , and within its error range △δ 2n Adjust the third arm 43 to the predetermined position angle δ 3n , and within its error range △δ 3n Adjust the fourth arm 44 to a predetermined position angle δ 4n , and within its error range △δ 4n Rotate the attachment joint 5 so that the attachment joint 5 is in a horizontal state, that is, it reaches its angle δ 5n , and within its error range △δ 5n The height of the attachment joint 5 in the rectangular coordinate system is z≥h max When the value is +△h, the turntable 2 can be rotated to make the rotation angle reach the preset rotation angle.

[0225] During the process of placing the attachment 3, ensure that the difference between the amplitude of the attachment joint 5 and the position change of the attachment 3 is LA-L n Within the allowable range △L, where L n is the distance from the projection of the target attachment 3 in the xoy plane to the coordinate origin O. n >△L, then stop raising the third boom 43 and continue lowering the fourth boom 44. If LA-L n <-△L, stop lowering the fourth boom 44 and continue raising the third boom 43 until the attachment joint 5 reaches the second preset position so that its coordinate errors are all within the range of △r1, △θ1, △ψ1, and then unlock the attachment joint 5 to complete the attachment 3 release action.

[0226] Finally, the attachment joint 5 is rotated to make it reach the first preset position and make its coordinate errors all within the range of △r2, △θ2, △ψ2, then the action is stopped, and the corresponding arm action can be performed later as needed.

[0227] Based on the aforementioned embodiments, in another aspect of the present disclosure, a computer-readable storage medium is further provided, on which a computer program is stored, wherein when the program is executed by a processor, any of the aforementioned demolition vehicle control methods is implemented.

[0228] In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted via a computer-readable medium as one or more instructions or codes. Computer-readable media include both computer storage media and communication media, including any media that facilitates the transfer of a computer program from one location to another. A storage medium may be any available medium that can be accessed by a computer. By way of example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of medium. As used herein, disk and disc include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, where disks typically reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0229] Thus far, various embodiments of the present disclosure have been described in detail. To avoid obscuring the concept of the present disclosure, some details known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0230] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that the above embodiments may be modified or some technical features may be replaced with equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A demolition vehicle, comprising: A chassis (1), the chassis (1) having a plurality of attachment brackets (11); A turntable (2), rotatably arranged on the chassis (1); A plurality of attachments (3), respectively arranged on the plurality of attachment brackets (11); An arm assembly (4), hinged to the turntable (2), comprising multiple sections of arms connected in sequence through hinge points; An attachment joint (5), hinged to the end of the last section of the multiple sections of arms for picking up or putting back any one of the plurality of attachments (3); A plurality of hinge point angle detection devices (61), respectively connected to each section of the multiple sections of arms and the attachment joint (5), configured to detect the angles of each section of the arms and the attachment joint (5); A slewing angle detection device (7), connected to the turntable (2), configured to detect the slewing angle of the turntable (2) relative to the chassis (1); And A processor (8), signal-connected to the turntable (2), the arm assembly (4), the attachment joint (5), the hinge point angle detection device (61) and the slewing angle detection device (7), configured to adjust the angles of the turntable (2), the arm assembly (4) and the attachment joint (5) to the preset arm assembly angle, preset attachment joint angle and preset turntable slewing angle corresponding to the target attachment (3) respectively, so that the attachment joint (5) picks up or puts back the target attachment (3).

2. The demolition vehicle according to claim 1, further comprising: A plurality of attachment in-place detection devices (9), respectively arranged on each of the attachment brackets (11), configured to detect whether each of the attachments (3) is located on the corresponding attachment bracket (11); Wherein, the processor (8) is signal-connected to each of the attachment in-place detection devices (9), and is configured to, in response to the target attachment (3) being located on the corresponding attachment bracket (11), adjust the angles of the arm assembly (4), the attachment joint (5) and the turntable (2), so that the attachment joint (5) picks up the target attachment (3).

3. The demolition vehicle according to claim 1 or 2, further comprising: A plurality of gravity-type angle detection devices (62), respectively connected to each section of the multiple sections of arms and the attachment joint (5), configured to detect the angles of each section of the arms and the attachment joint (5); Wherein, the processor (8) is signal-connected to each of the gravity-type angle detection devices (62), and is configured to obtain Based on the angle information obtained by each of the hinge point angle detection devices (61) and each of the gravity-type angle detection devices (62), determine the angles of the arm assembly (4) and the attachment joint (5).

4. A control method for a demolition vehicle based on the demolition vehicle according to any one of claims 1 to 3 above, comprising: Respectively obtain the angle information of each section of the arm assembly (4), the attachment joint (5) and the turntable (2) through the hinge point angle detection device (61) and the slewing angle detection device (7); Adjust the turntable (2) to the preset turntable rotation angle corresponding to the target attachment (3), adjust each boom of the boom assembly (4) to the preset angle of each boom corresponding to the target attachment (3), and adjust the attachment joint (5) to the preset attachment joint angle corresponding to the target attachment (3); In response to the turntable (2), each boom of the boom assembly (4), and the attachment joint (5) all reaching the preset postures corresponding to the target attachment (3), make the attachment joint (5) pick up or place the target attachment (3).

5. The demolition vehicle control method according to claim 4, wherein the operations of adjusting the turntable (2) to the preset turntable rotation angle corresponding to the target attachment (3), adjusting each boom of the boom assembly (4) to the preset angle of each boom corresponding to the target attachment (3), and adjusting the attachment joint (5) to the preset attachment joint angle corresponding to the target attachment (3) specifically include: Sequentially adjust the angle of the turntable (2) within the allowable range of the preset turntable rotation angle corresponding to the target attachment (3), adjust the angles of each boom of the boom assembly (4) within the allowable range of the preset angle of each boom corresponding to the target attachment (3), and adjust the angle of the attachment joint (5) within the allowable range of the preset attachment joint angle corresponding to the target attachment (3).

6. The demolition vehicle control method according to claim 4 or 5, further comprising: Establish a coordinate system with the rotation center of the turntable (2) as the coordinate origin; Determine the position coordinates of the clamping end point of the target attachment (3) according to the distance between the target attachment (3) and the chassis (1), the distance between the target attachment (3) and the coordinate origin, and the deflection angle between the target attachment (3) and the coordinate origin, and determine the position coordinates of the operation end point of the attachment joint (5) according to the distance between the first boom of the boom assembly (4) and the coordinate origin, the lengths of each boom of the boom assembly (4), the length of the attachment joint (5), the angles of each boom of the boom assembly (4), the angle of the attachment joint (5), and the angle of the turntable (2); In response to the position difference between the operation end point of the attachment joint (5) and the clamping end point of the target attachment (3) exceeding the allowable range of the position difference, adjust the boom assembly (4) and / or the attachment joint (5) to adjust the position difference between the operation end point of the attachment joint (5) and the clamping end point of the target attachment (3) to within the allowable range of the position difference.

7. The demolition vehicle control method according to claim 6, wherein the operations of adjusting the boom assembly (4) and / or the attachment joint (5) to adjust the position difference between the operation end point of the attachment joint (5) and the clamping end point of the target attachment (3) to within the allowable range of the position difference in response to the position difference between the operation end point of the attachment joint (5) and the clamping end point of the target attachment (3) exceeding the allowable range of the position difference specifically include: In response to the distance difference between the spherical coordinates of the operating end point of the attachment joint (5) and the spherical coordinates of the clamping end point of the target attachment (3) being greater than the maximum value of the allowable range of the distance difference, the differences between the actual angles of each boom section in the boom assembly (4) and the preset angles of the corresponding boom sections of the target attachment (3), and the difference between the actual angle of the attachment joint (5) and the preset angle of the attachment joint corresponding to the target attachment (3) are respectively compared; The boom or the attachment joint (5) with the largest angle difference in the boom assembly (4) and the attachment joint (5) is adjusted to reduce the angle difference of the boom or the attachment joint (5) with the largest angle difference until the distance difference between the spherical coordinates of the operating end point of the attachment joint (5) and the spherical coordinates of the clamping end point of the target attachment (3) is less than the maximum value of the allowable range of the distance difference.

8. The demolition vehicle control method according to claim 6 or 7, wherein the operation of adjusting the boom assembly (4) and / or the attachment joint (5) to adjust the position difference between the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) within the allowable range of the position difference in response to the position difference between the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) exceeding the allowable range of the position difference further includes: In response to the distance difference between the spherical coordinates of the operating end point of the attachment joint (5) and the spherical coordinates of the clamping end point of the target attachment (3) being less than the minimum value of the allowable range of the distance difference, the differences between the actual angles of each boom section in the boom assembly (4) and the preset angles of the corresponding boom sections of the target attachment (3), and the difference between the actual angle of the attachment joint (5) and the preset angle of the attachment joint corresponding to the target attachment (3) are respectively compared; The boom or the attachment joint (5) with the smallest angle difference in the boom assembly (4) and the attachment joint (5) is adjusted to increase the angle difference of the boom or the attachment joint (5) with the smallest angle difference until the distance difference between the spherical coordinates of the operating end point of the attachment joint (5) and the spherical coordinates of the clamping end point of the target attachment (3) is greater than the minimum value of the allowable range of the distance difference.

9. The demolition vehicle control method according to claim 6 or 7, wherein the operation of adjusting the boom assembly (4) and / or the attachment joint (5) to adjust the position difference between the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) within the allowable range of the position difference in response to the position difference between the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) exceeding the allowable range of the position difference further includes: In response to adjusting the angle difference of the boom with the largest angle difference in the boom assembly (4) to be equal to the minimum value of the allowable range of the boom preset angle, or adjusting the angle of the attachment joint (5) to be equal to the attachment joint preset angle When at the minimum value of the allowable range, the distance difference between the spherical coordinates of the operating end point of the attachment joint (5) and the spherical coordinates of the clamping end point of the target attachment (3) is still greater than the maximum value of the allowable range of the distance difference. The differences between the actual angles of each section of the boom assembly (4) and the preset angles of the corresponding sections of the target attachment (3), and the difference between the actual angle of the attachment joint (5) and the preset angle of the attachment joint corresponding to the target attachment (3) are respectively compared; Adjust the boom or the attachment joint (5) with the largest angle difference in the boom assembly (4) and the attachment joint (5) to reduce the angle difference of the boom or the attachment joint (5) with the largest angle difference until the distance difference between the spherical coordinates of the operating end point of the attachment joint (5) and the spherical coordinates of the clamping end point of the target attachment (3) is less than the maximum value of the allowable range of the distance difference.

10. The demolition vehicle control method according to any one of claims 6 to 8, wherein the operation of adjusting the boom assembly (4) and / or the attachment joint (5) to adjust the position difference between the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) within the allowable range of the position difference in response to the position difference between the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) exceeding the allowable range of the position difference further includes: When the distance difference between the spherical coordinates of the operating end point of the attachment joint (5) and the spherical coordinates of the clamping end point of the target attachment (3) is still less than the minimum value of the allowable range of the distance difference in response to adjusting the angle difference of the boom with the smallest angle difference in the boom assembly (4) to be equal to the maximum value of the allowable range of the boom preset angle, or adjusting the angle of the attachment joint (5) to be equal to the maximum value of the allowable range of the attachment joint preset angle, the differences between the actual angles of each section of the boom assembly (4) and the preset angles of the corresponding sections of the target attachment (3), and the difference between the actual angle of the attachment joint (5) and the preset angle of the attachment joint corresponding to the target attachment (3) are respectively compared; Adjust the boom or the attachment joint (5) with the smallest angle difference in the boom assembly (4) and the attachment joint (5) to increase the angle difference of the boom or the attachment joint (5) with the smallest angle difference until the distance difference between the spherical coordinates of the operating end point of the attachment joint (5) and the spherical coordinates of the clamping end point of the target attachment (3) is greater than the minimum value of the allowable range of the distance difference.

11. The demolition vehicle control method according to any one of claims 6 to 10, wherein the operation of adjusting the boom assembly (4) and / or the attachment joint (5) to adjust the position difference between the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) within the allowable range of the position difference in response to the position difference between the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) exceeding the allowable range of the position difference further includes: In response to the height angle difference between the spherical coordinates of the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) being greater than the maximum value of the allowable range of the height angle difference, the differences between the actual angles of each boom section in the boom assembly (4) and the preset angles of the corresponding boom sections of the target attachment (3), and the difference between the actual angle of the attachment joint (5) and the preset angle of the attachment joint corresponding to the target attachment (3) are respectively compared; The boom or the attachment joint (5) with the largest angle difference in the boom assembly (4) and the attachment joint (5) is adjusted to reduce the angle difference of the boom or the attachment joint (5) with the largest angle difference until the height angle difference between the spherical coordinates of the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) is less than the maximum value of the allowable range of the height angle difference.

12. The demolition vehicle control method according to any one of claims 6 to 11, wherein the operation of adjusting the boom assembly (4) and / or the attachment joint (5) to adjust the position difference between the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) within the allowable range of the position difference in response to the position difference between the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) exceeding the allowable range of the position difference further includes: In response to the height angle difference between the spherical coordinates of the operating end point of the attachment joint (5) and the spherical coordinates of the clamping end point of the target attachment (3) being less than the minimum value of the allowable range of the height angle difference, the differences between the actual angles of each boom section in the boom assembly (4) and the preset angles of the corresponding boom sections of the target attachment (3), and the difference between the actual angle of the attachment joint (5) and the preset angle of the attachment joint corresponding to the target attachment (3) are respectively compared; The boom or the attachment joint (5) with the smallest angle difference in the boom assembly (4) and the attachment joint (5) is adjusted to increase the angle difference of the boom or the attachment joint (5) with the smallest angle difference until the height angle difference between the spherical coordinates of the operating end point of the attachment joint (5) and the spherical coordinates of the clamping end point of the target attachment (3) is greater than the minimum value of the allowable range of the height angle difference.

13. The demolition vehicle control method according to claim 6 or 11, wherein the operation of adjusting the boom assembly (4) and / or the attachment joint (5) to adjust the position difference between the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) within the allowable range of the position difference in response to the position difference between the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) exceeding the allowable range of the position difference further includes: ​ When the angular difference of the boom with the largest angular difference in the boom assembly (4) is adjusted to be equal to the minimum value of the allowable range of the preset boom angle, or when the angle of the attachment joint (5) is adjusted to be equal to the minimum value of the allowable range of the preset attachment joint angle, the height angle difference between the spherical coordinates of the operating end point of the attachment joint (5) and the spherical coordinates of the clamping end point of the target attachment (3) is still greater than the maximum value of the allowable range of the height angle difference. Separate Compare the differences between the actual angles of each boom section in the boom assembly (4) and the preset angles of the corresponding boom sections of the target attachment (3), and the difference between the actual angle of the attachment joint (5) and the preset angle of the attachment joint corresponding to the target attachment (3); Adjust the boom or the attachment joint (5) with the largest angular difference in the boom assembly (4) and the attachment joint (5) to reduce the angular difference of the boom or the attachment joint (5) with the largest angular difference until the height angle difference between the spherical coordinates of the operating end point of the attachment joint (5) and the spherical coordinates of the clamping end point of the target attachment (3) is less than the maximum value of the allowable range of the height angle difference.

14. The demolition vehicle control method according to claim 6 or 12, wherein the operation of adjusting the boom assembly (4) and / or the attachment joint (5) to adjust the position difference between the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) within the allowable range of the position difference in response to the position difference between the operating end point of the attachment joint (5) and the clamping end point of the target attachment (3) exceeding the allowable range of the position difference further includes: When the angular difference of the boom with the smallest angular difference in the boom assembly (4) is adjusted to be equal to the maximum value of the allowable range of the preset boom angle, or when the angle of the attachment joint (5) is adjusted to be equal to the maximum value of the allowable range of the preset attachment joint angle, the height angle difference between the spherical coordinates of the operating end point of the attachment joint (5) and the spherical coordinates of the clamping end point of the target attachment (3) is still less than the minimum value of the allowable range of the height angle difference. Compare the differences between the actual angles of each boom section in the boom assembly (4) and the preset angles of the corresponding boom sections of the target attachment (3), and the difference between the actual angle of the attachment joint (5) and the preset angle of the attachment joint corresponding to the target attachment (3); Adjust the boom or the attachment joint (5) with the smallest angular difference in the boom assembly (4) and the attachment joint (5) to increase the angular difference of the boom or the attachment joint (5) with the smallest angular difference until the height angle difference between the spherical coordinates of the operating end point of the attachment joint (5) and the spherical coordinates of the clamping end point of the target attachment (3) is greater than the minimum value of the allowable range of the height angle difference.

15. The demolition vehicle control method according to any one of claims 4 to 14, wherein the operation of causing the tool joint (5) to pick up the target tool (3) in response to the turntable (2), each boom of the boom assembly (4), and the tool joint (5) all reaching the preset postures corresponding to the target tool (3) specifically includes: Moving the operation end point of the tool joint (5) to a first preset position; Rotating the tool joint (5) to move the operation end point of the tool joint (5) to coincide with the clamping end point of the target tool (3) at a second preset position, so that the tool joint (5) locks the target tool (3).

16. The demolition vehicle control method according to claim 15, wherein the operation of causing the tool joint (5) to pick up the target tool (3) in response to the turntable (2), each boom of the boom assembly (4), and the tool joint (5) all reaching the preset postures corresponding to the target tool (3) further includes: In response to the operation end point of the tool joint (5) reaching the second preset position and coinciding with the clamping end point of the target tool (3), vertically lifting the target tool (3) by raising the last boom of the boom assembly (4) and / or lowering the penultimate boom of the boom assembly (4) until the height of the clamping end point of the target tool (3) is greater than the first preset height.

17. The demolition vehicle control method according to any one of claims 4 to 16, wherein the operation of causing the tool joint (5) to place back the target tool (3) in response to the turntable (2), the boom assembly (4), and the tool joint (5) reaching the preset postures corresponding to the target tool (3) specifically includes: Moving the operation end point of the tool joint (5) to coincide with the clamping end point of the target tool (3) at a second preset position to unlock the target tool (3) by the tool joint (5); Rotating the tool joint (5) to move the operation end point of the tool joint (5) to the first preset position.

18. The demolition vehicle control method according to any one of claims 4 to 17, wherein the operation of causing the tool joint (5) to place back the target tool (3) in response to the turntable (2), the boom assembly (4), and the tool joint (5) reaching the preset postures corresponding to the target tool (3) further includes: In response to the height of the clamping end point of the target tool (3) being greater than the first preset height, vertically placing back the target tool (3) by raising the last boom of the boom assembly (4) and / or lowering the penultimate boom of the boom assembly (4) so that the operation end point of the tool joint (5) reaches the second preset position and coincides with the clamping end point of the target tool (3).

19. The demolition vehicle control method according to any one of claims 4 to 18, wherein the demolition vehicle further includes: A plurality of tool in-place detection devices (9) respectively arranged on the plurality of tool supports (11) and configured to detect whether each tool (3) is located on the corresponding tool support (11); Wherein, the demolition vehicle control method further includes: In response to determining, by means of the attachment in-place detection device (9), that the target attachment (3) is located on the attachment support (11), adjusting the angles of the boom assembly (4), the attachment joint (5), and / or the turntable (2) so that the attachment joint (5) picks up the target attachment (3).

20. The demolition vehicle control method according to any one of claims 4 to 19, further includes: Before the turntable (2) is adjusted to the preset slewing angle of the turntable corresponding to the target attachment (3), each boom of the boom assembly (4) is adjusted to the preset angle of each boom corresponding to the target attachment (3), and the attachment joint (5) is adjusted to the preset angle of the attachment joint corresponding to the target attachment (3), in response to the target attachment (3) being located on the attachment support (11), raising the attachment joint (5) so that the height of the attachment joint (5) is greater than a second preset height, so that the attachment joint (5) picks up the target attachment (3). The height of the joint (5) is greater than a second preset height, so that the attachment joint (5) picks up the target attachment (3).

21. The demolition vehicle control method according to any one of claims 4 to 20, further includes: In response to determining, by means of the attachment in-place detection device (9), that the attachment support (11) corresponding to the target attachment (3) is in an empty state and the height of the attachment joint (5) is greater than a first preset height, adjusting the angles of the boom assembly (4), the attachment joint (5), and / or the turntable (2) so that the attachment joint (5) places the target attachment (3) back.

22. A computer-readable storage medium, on which a computer program is stored, wherein when the program is executed by a processor (8), the demolition vehicle control method according to any one of claims 4 to 21 is implemented.

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